CN113157019A - Method for actively controlling temperature of servo motor of spindle of numerical control machine tool - Google Patents
Method for actively controlling temperature of servo motor of spindle of numerical control machine tool Download PDFInfo
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Abstract
The invention aims to solve the technical problem of providing a method for actively controlling the temperature of a servo motor of a spindle of a numerical control machine tool from the source of a heat source of the numerical control machine tool. The method comprises the steps of collecting data of a real-time temperature sensor arranged on a key part of a machine tool into an HS-P9-E-R temperature input module, feeding electronic signals back into a PLC (programmable logic controller) built in a Huazhong 9 type numerical control system, sending the electronic signals to an HIO-1073 board through a PID (proportion integration differentiation) instruction provided by a PLC standard module, controlling the frequency of a frequency converter of the water cooling machine by taking a D/A (digital/analog) analog quantity as an output quantity, controlling the circulating speed and the flow quantity of a cooling system of the water cooling device, achieving a closed-loop control effect, taking away heat of a heat source, and finally reducing the influence of thermal errors. In order to research the influence of the water cooling machine water outlet flow velocity on the temperature reduction of the spindle servo motor, a method for actively controlling the temperature of the spindle servo motor of the numerical control machine tool is created.
Description
Technical Field
The invention relates to the field of numerical control machine tools, in particular to a method for actively controlling the temperature and cooling and adjusting a spindle motor of a high-grade precision numerical control machine tool.
Background
Modern machine manufacturing tends to be more and more refined and precise, and the precision requirement of a numerical control machine which is a main device for precision machining is higher and higher. Geometric errors, thermal errors and force errors of the numerical control machine tool account for 65% of total errors and are main factors influencing the machining precision of the numerical control machine tool, but the proportion of various error sources under different working conditions is different, and in the precision machining and the ultra-precision machining of various high-grade numerical control machine tools, the proportion of the thermal errors is very large and can account for 70% of the total errors of the numerical control machine tool at most. How to effectively improve the thermal characteristics so as to effectively reduce the adverse effect generated by the thermal error of the machine tool becomes a technical bottleneck which is urgently needed to be solved in equipment research and development in the manufacturing industry of China. The traditional high-grade precise numerical control machine tool eliminates the influence caused by thermal error, one is that an error compensation model is embedded into a numerical control system and passively receives a detection value sent by a sensor to perform error compensation, but due to the thermal deformation nonlinear time-varying process, a general model is difficult to accurately track real-time thermal deformation, and the robustness of the model is not good enough. And secondly, a thermostatic chamber is established, the numerical control machine tool is placed in the thermostatic chamber, the temperature is actively regulated by a large air conditioner, and the early investment and the later operation and maintenance cost are extremely high.
Disclosure of Invention
The technical problem of the invention is mainly solved by the following technical scheme:
a method for actively controlling the temperature of a servo motor of a spindle of a numerical control machine tool is characterized by comprising the following steps:
step 1, a thermal imager is adopted to heat a machine tool spindle servo motor, and then the position of the machine tool spindle servo motor which is higher than a set temperature after reaching a thermal equilibrium state is positioned as the position of a heating source of the machine tool spindle servo motor;
Firstly, a cooling-water cooling machine water outlet flow velocity multiple linear regression model of a heating source position of a machine tool spindle servo motor is defined as follows:
Vn＝β0+β1T1n+β2T2n+β3T3n…βn-1Tmn+ ε, where T1n，…，TmnA non-random variable, VnIs a random dependent variable; beta is a0，…，βn-1Is a regression coefficient; ε is a random error term.
Expressed in a matrix: tbeta + epsilon
Wherein:
calculating: t 'T, (T' T)-1、T＇V；
Calculating a least square estimation formula:
thereby obtaining a linear regression equation.
And 3, arranging m temperature sensors T1, T2 and T3 … … Tm (unit:DEGC) at the position of a heating source of the servo motor of the machine tool spindle for detecting the real-time temperature of the motor, carrying out a heat temperature rise test on the machine tool spindle, and enabling the water cooling machine to be out of work as a reference. When the machine tool reaches a thermal equilibrium state, opening a water outlet valve of the water cooling machine, detecting the relation between the cooling change condition of a servo motor of the machine tool spindle and the flow velocity of cooling water in real time by using a temperature sensor and a flow velocimeter, and substituting the measured temperature and flow velocity values into the formula to obtain a value beta, thereby obtaining a multivariate linear model;
and 4, controlling the flow velocity of the water outlet of the water cooling machine to be V by adopting the multi-element linear model obtained in the step 3, thereby controlling the temperature of the spindle servo motor of the numerical control machine.
The mathematical model of the flow rate and the temperature of the water cooling machine is obtained in the step, and the temperature drop effect of the spindle servo motor of the numerical control machine tool is controlled by controlling the change condition (gear change) of the increased flow rate.
In the above method for actively controlling the temperature of the servo motor of the spindle of the numerical control machine tool, the method for detecting the relationship between the cooling change condition of the servo motor of the spindle of the machine tool and the flow rate of the cooling water in real time specifically comprises the following steps: the HS-P9-E-R temperature input module guides the acquired temperature signals into a PLC of a numerical control system and sends the temperature signals to an HIO-1073 board by utilizing PID instructions, D/A analog quantity is used as output, the frequency of a frequency converter is controlled by the output of 0-10V, and a frequency conversion motor is enabled to run at 0-2900R/min, so that the flow of cooling water is controlled to flow into the machine tool body in the interval of 0-2 t/h, the temperature of the machine tool body is reduced, and the purpose of actively eliminating the thermal deformation of the machine tool is achieved. According to the result of the thermal imager, the temperature sensor and the water cooling plate are uniformly distributed and fixed on a component with large heat generation. That is, written according to the best time characteristic S5H machine tool PID test report.
In the above method for actively controlling the temperature of the spindle servo motor of the numerical control machine tool, n is 4 positions, and the specific test method includes:
3.1, arranging 4 temperature sensors T1, T2, T3 and T4 (unit: DEG C) on a servo motor of the spindle to detect the real-time temperature of the motor; the flow velocity of the water outlet of the water cooling machine is V (unit: m/s), is regulated by a water outlet valve of the water cooling machine, and is detected by a flow velocity measuring instrument, as shown in figure 2.
And 3.2, performing a heat temperature rise test on the machine tool spindle, and enabling the water cooling machine to be out of work as a reference. And opening a water outlet valve of the water cooling machine when the machine tool reaches a thermal equilibrium state, and detecting the relation between the cooling change condition of the servo motor of the machine tool spindle and the flow velocity of cooling water in real time by using a temperature sensor and a flow velocimeter. Considering the convenience of practical use of a factory, the spindle servo motor cooling-water cooler water outlet flow velocity model is assumed as a multiple linear regression model: vn＝β0+β1T1n+β2T2n+β3T3n…βn-1Tmn+ε。
Therefore, the invention has the following advantages:
firstly, a design method for temperature active control is to find out the part with large heat productivity of a machine tool through an infrared imager for a heat temperature rise experiment, and then arrange a water cooling device for cooling.
Secondly, an optimization method for temperature active control is adopted, mathematical model expressions of the flow velocity of the water flow of the water outlet cooler and the temperature drop of the main shaft servo motor are obtained through measurement and theoretical calculation, and the temperature drop effect of the main shaft servo motor of the numerical control machine tool is changed by controlling the increase change condition of the flow velocity of the water flow.
Drawings
FIG. 1 is a schematic diagram of a PID control scheme according to the invention.
Fig. 2 is a schematic diagram of a spindle servo motor with a water cooling plate and temperature sensor arrangement according to the present invention.
FIG. 3 is a schematic flow chart of the present invention.
FIG. 4 is a temperature rise test curve diagram of the spindle servo motor of the numerical control machine tool.
FIG. 5 is a water cooling curve diagram of the spindle servo motor of the numerical control machine tool.
FIG. 6 is a simulation diagram of the numerical control machine tool spindle servo motor temperature array-water cooling machine water outlet flow rate fitting.
FIG. 7 is a simulation residual analysis diagram of the numerical control machine tool spindle servo motor temperature array-water cooling machine effluent flow rate fitting.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the invention provides a method for actively controlling the temperature of a servo motor of a spindle of a numerical control machine tool, which comprises the following steps:
(1) and finding out the position of the heating source. The thermal imager is placed in front of a machine tool to heat the machine tool, the environmental temperature of the experiment is 15 ℃, an operation code is set in a numerical control system, the rotating speed of a main shaft of the machine tool is set to continuously heat the machine tool, the heating time is set for 2 hours (specifically determined according to the actual condition of each machine tool), the standard of the heating time judgment is that the machine tool reaches a thermal equilibrium state (the temperature of the machine tool does not obviously rise any more, namely the thermal equilibrium state of the machine tool), after the machine tool reaches the thermal equilibrium state, the position with large heat generation is recorded, and the direction is provided for the arrangement of a subsequent temperature sensor and a water cooling plate.
(2) The implementation of the water cooling scheme is shown in figure 1. The HS-P9-E-R temperature input module guides the acquired temperature signals into a PLC of a numerical control system and sends the temperature signals to an HIO-1073 board by utilizing PID instructions, D/A analog quantity is used as output, the frequency of a frequency converter is controlled by the output of 0-10V, and a frequency conversion motor is enabled to run at 0-2900R/min, so that the flow of cooling water is controlled to flow into the machine tool body in the interval of 0-2 t/h, the temperature of the machine tool body is reduced, and the purpose of actively eliminating the thermal deformation of the machine tool is achieved. According to the result of the thermal imaging system, the temperature sensor and the water cooling plate are uniformly distributed and fixed on the parts with large heat generation, such as the servo motor and the ball screw of the feeding shaft, the main shaft servo motor and the main shaft bearing.
The test object is a three-axis precise intelligent linear motor machining center S5H machine tool which is developed and designed by combining Jiashite and Huazhong numerical control, the adopted motor is a linear motor, electric energy is directly converted into linear motion mechanical energy, and a transmission device of any intermediate conversion mechanism is not needed, so that only the temperature sensors are arranged on the linear motor and the main shaft servo motor, but in order to better perform comparison test, the temperature sensors and the water cooling plate are only arranged on the servo motor of the main shaft in the implementation mode.
(3) The active control method comprises the following steps: and (3) establishing a mathematical model of the water outlet flow speed of the water cooling machine and the temperature drop of the main shaft servo motor.
1) 4 temperature sensors T are arranged on a servo motor of the main shaft1，T2，T3，T4The temperature sensor is used for detecting the real-time temperature of the motor (unit: DEG C); the flow velocity of the water outlet of the water cooling machine is V (unit: m/s), is regulated by a water outlet valve of the water cooling machine, and is detected by a flow velocity measuring instrument, as shown in figure 2.
2) In order to obtain a good cooling test result, a hot temperature rise test was performed on the machine tool spindle, and the water cooler did not work as a control. And opening a water outlet valve of the water cooling machine when the machine tool reaches a thermal equilibrium state, and detecting the relation between the cooling change condition of the servo motor of the machine tool spindle and the flow velocity of cooling water in real time by using a temperature sensor and a flow velocimeter.
Vn＝β0+β1T1n+β2T2n+β3T3n…βn-1Tmn+ε
The function coefficient can be obtained by calling a multiple linear regression function in MATLAB software, and the temperature of the machine tool spindle servo motor can be actively regulated through the water cooling machine water outlet flow speed.
The following describes in detail a specific embodiment of the present invention with reference to the drawings, taking a three-axis precision intelligent linear motor machining center S5H as an example.
(1) The maximum strokes of the X, Y, Z axes of the machine tool are respectively 800mm, 500mm and 500mm, the power of the main shaft motor is 7.5/11kW, the maximum rotating speed of the main shaft is 8000r/min, and the flow chart of the steps of the invention is shown in figure 3.
(2) The change of the temperature of the spindle servo motor with time is shown in fig. 4, the running state of the motor is kept stable, and the thermal equilibrium state of the machine tool is used as a comparison test.
(3) The water outlet valve of the water cooling machine is opened, the change of the flow rate is adjusted, and the change of the water cooling temperature of the main shaft servo motor along with the flow rate of the outlet water is shown in fig. 5. Next, the data related to the water cooling-water cooling flow rate of the spindle servo motor shown in fig. 5 is substituted into the multivariate linear model, and is brought into MATALB for calculation and fitting, and the result is shown in fig. 6.
The MATLAB algorithm flow is as follows, firstly initializing, inputting spindle servo motor temperature data x1, x2, x3, x4 and water outlet flow velocity y of a water cooler, then calling a multiple linear regression function of regression, and solving beta0、β1、β2、β3And beta4And finally, residual analysis is carried out, and the accuracy of the model is verified through a residual map.
clc,clear,close all；
x1＝[38.3,36,33,31,29.5,27,26.6,25.3,23,20,18,17,16,15.5,15.1,15]'；
x2＝[38.3,35,31.1,30,28,27.3,25,22,19,17,16.5,15.5,15.3,15.1,15,15]'；
x3＝[38.3,34,30.6,29,27,25.5,23.9,20.3,18,16.5,15.5,15.3,15.2,15.1,15,15]'；
x4＝[38.3,32.5,30.5,28,26.3,24.9,21,19.7,17.4,15.5,15.2,15.1,15.1,15,15,15]'；
y＝[0,0.2,0.4,0.6,0.8,1,1.2,1.4,1.6,1.8,2,2.2,2.4,2.6,2.8,3]'；
Y＝y；
X＝[ones(16,1),x1,x2,x3,x4]；
[b,bint,r,rint,stats]＝regress(Y,X)
t＝1:16；
figure1＝figure('Color',[1 1 1])；figure2＝figure('Color',[1 1 1])；
figure(1)；
y_fitting＝X(t,:)*b；
plot(t,y_fitting,'r-',t,Y(t,:),'bo',t,abs(y_fitting-Y(t,:)),'k-')；
legend ('fitted value', 'actual value', 'residual value')
text(2,2.5,strcat('r^2＝',num2str(stats(1))))；
text(2,2,strcat('F＝',num2str(stats(1,2))))；
text(2,1.5,strcat('P＝',num2str(stats(1,3),'％f')))；
title ('machine tool z spindle servo motor temperature array-water cooling machine water outlet flow velocity fitting curve');
xlabel ('temperature array:. degree. C.'); (yl) bel (water-cooled machine outlet flow rate: m/s');
through calculation, the b ═ is known
4.4246
-0.1512
-0.0837
0.1267
-0.0078
Confidence intervals are [4.0999, 4.7493 respectively]、[-0.2374，-0.0651]、[-0.3218，0.1544]、[-0.1562，0.1406]And [ -0.1609, 0.4143]，r20.9774 (the more the value is close to 1, the more the regression effect is significant), 119.0586F, 0.0000 p<0.05, the regression model V is 4.4246-0.1512T1-0.0837T2+0.1267T3-0.0078T4This is true.
Inputting in a command line window: rcoplot (r, rint)
The result of fig. 7 is obtained, and it can be seen from the residual error graph that the 16 th point is an abnormal point, which is caused by that the temperature of the spindle servo motor is already reduced to room temperature, and the temperature of the spindle servo motor of the machine tool cannot be reduced by continuously increasing the water outlet flow rate of the water cooler. And if the residual errors of other data are close to the zero point and confidence intervals of the residual errors contain the zero point, the water cooling of the machine tool spindle servo motor-the multiple regression model of the water outlet flow rate of the water cooling machine is shown:
V＝4.4246-0.1512T1-0.0837T2+0.1267T3-0.0078T4
the water cooling machine can better accord with original data, a mathematical model of the water cooling machine is embedded into a numerical control system, the flow speed of a water outlet valve of the water cooling machine can be actively controlled through a PID (proportion integration differentiation) instruction of a built-in PLC (programmable logic controller), and the temperature of a main shaft servo motor is reduced through a water cooling circulating system.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (3)
1. A method for actively controlling the temperature of a servo motor of a spindle of a numerical control machine tool is characterized by comprising the following steps:
step 1, a thermal imager is adopted to heat a machine tool spindle servo motor, and then the position of the machine tool spindle servo motor which is higher than a set temperature after reaching a thermal equilibrium state is positioned as the position of a heating source of the machine tool spindle servo motor;
step 2, assuming that V and T are observed n times,t is m types, n observations V are obtainedn，TmnAnd each variable is non-random or fixed, and the variables are not related to each other and have no multiple collinearity;
firstly, a cooling-water cooling machine water outlet flow velocity multiple linear regression model of a heating source position of a machine tool spindle servo motor is defined as follows:
Vn＝β0+β1T1n+β2T2n+β3T3n…βn-1Tmn+ ε, where T1n，…，TmnA non-random variable, VnIs a random dependent variable; beta is a0，…，βn-1Is a regression coefficient; ε is a random error term;
expressed in a matrix: tbeta + epsilon
Wherein:
calculating: t 'T, (T' T)-1、T＇V；
Calculating a least square estimation formula:
thereby obtaining a linear regression equation;
step 3, arranging m temperature sensors T1, T2 and T3 … … Tm (unit: DEG C) at the position of a heating source of a servo motor of a machine tool spindle for detecting the real-time temperature of the motor, carrying out a heat temperature rise test on the machine tool spindle, and enabling a water cooling machine to be out of work as a reference; when the machine tool reaches a thermal equilibrium state, opening a water outlet valve of the water cooling machine, detecting the relation between the cooling change condition of a servo motor of the machine tool spindle and the flow velocity of cooling water in real time by using a temperature sensor and a flow velocimeter, and substituting the measured temperature and flow velocity values into the formula to obtain a value beta, thereby obtaining a multivariate linear model;
and 4, controlling the flow velocity of the water outlet of the water cooling machine to be V by adopting the multi-element linear model obtained in the step 3, thereby controlling the temperature of the spindle servo motor of the numerical control machine.
2. The method for actively controlling the temperature of the servo motor of the spindle of the numerical control machine tool according to claim 1, wherein the method for detecting the relationship between the cooling change condition of the servo motor of the spindle of the machine tool and the flow rate of the cooling water in real time specifically comprises the following steps: the HS-P9-E-R temperature input module guides the acquired temperature signal into a PLC of a numerical control system and sends the temperature signal to an HIO-1073 board by utilizing a PID instruction, the frequency of a frequency converter is controlled by taking D/A analog quantity as output through 0-10V output, and a frequency conversion motor runs at 0-2900R/min, so that the flow of cooling water is controlled to flow into the machine tool body in a range of 0-2 t/h, and the temperature of the machine tool body is reduced, thereby achieving the purpose of actively eliminating the thermal deformation of the machine tool; according to the result of the thermal imager, the temperature sensor and the water cooling plate are uniformly distributed and fixed on a component with large heat generation.
3. The method for actively controlling the temperature of the servo motor of the spindle of the numerical control machine tool as claimed in claim 1, wherein n is 4 positions, and the specific test method comprises:
3.1, arranging 4 temperature sensors T1, T2, T3 and T4 (unit: DEG C) on a servo motor of the spindle to detect the real-time temperature of the motor; the flow velocity of the water outlet of the water cooling machine is V (unit: m/s), the flow velocity is adjusted by a water outlet valve of the water cooling machine and is detected by a flow velocity measuring instrument, as shown in the attached figure 2;
3.2, performing a heat temperature rise test on the machine tool spindle, and enabling the water cooling machine to be out of work as a reference; when the machine tool reaches a thermal equilibrium state, opening a water outlet valve of the water cooling machine, and detecting the relation between the cooling change condition of the servo motor of the machine tool spindle and the flow velocity of cooling water in real time by using a temperature sensor and a flow velocimeter; considering the convenience of practical use of a factory, the spindle servo motor cooling-water cooler water outlet flow velocity model is assumed as a multiple linear regression model: vn＝β0+βlT1n+β2T2n+β3T3n...βn-lTmn+g。
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