CN115328023A - Error compensation method for realizing thermal deformation of machine tool without sensor - Google Patents
Error compensation method for realizing thermal deformation of machine tool without sensor Download PDFInfo
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- G05B19/00—Programme-control systems
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- 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
- G05B19/404—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 arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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Abstract
A method for realizing error compensation of machine tool thermal deformation without a sensor belongs to the technical field of monitoring of electromechanical matching of a numerical control machine tool. For a numerically-controlled machine tool with qualified design and manufacture, in the use process of a user, the positioning precision of the numerically-controlled machine tool is changed due to the change of a temperature field and thermal deformation, and the machining precision of parts is inevitably influenced. In order to avoid the influence of thermal deformation errors on high-precision machining of a machine tool, a large number of machine tool structures and user use conditions are investigated, measured and subjected to mathematical analysis, and main reasons that the machining precision of the machine tool is influenced due to thermal deformation of the numerical control milling machine are found. According to the research conclusion of inducing the thermal deformation of the numerical control machine tool, a simple and convenient method for measuring, modeling and compensating the thermal deformation is adopted, namely: the method has the advantages that a temperature sensor is not required to be arranged, the thermal deformation error is accurately measured, the time-lapse fitting function of the thermal deformation error is obtained by using a least square method, the periodic cycle calculation of the thermal deformation error is carried out based on a numerical control system, and the influence of the thermal deformation of the numerical control machine on high-precision machining is overcome by adopting an NC (numerical control) synchronization or PLC (programmable logic controller) random monitoring strategy and a compensation method.
Description
Technical Field
The invention relates to a method for realizing error compensation of thermal deformation of a machine tool without a sensor, belonging to the technical field of monitoring of electromechanical matching of a numerical control machine tool.
Background
The machine tool industry has long been working on studies affecting the accuracy of machine tools and, via a large number of measurements and mathematical analyses by skilled personnel, drawing conclusions: machine tool thermal deformation is one of the main factors affecting its positioning accuracy. Therefore, the technical research on machine tool thermal deformation error compensation and various compensation schemes or methods for generating position errors due to machine tool thermal deformation become indispensable important ways for improving the precision of the numerical control machine. The traditional method for detecting, modeling and compensating the temperature of the thermal deformation error of the machine tool is influenced by the difference of the structure of the machine tool and a numerical control system, and the problems that the positions and the quantity of temperature sensors are difficult to arrange and select and the like do not reach the normal popularization level, which brings considerable trouble to the high-precision processing of a large number of numerical control machines.
The method comprises the steps that the influence of a body and an environment on the precision of a machine tool, namely an internal temperature field and an external temperature field, is analyzed in a depth mode, wherein the former mainly refers to the set of temperature influencing factors of the machine tool body such as a lubricating system, a cooling system, a transmission mechanism, a motor, cutting related cutters/workpieces/metal chips and the like in the operation process of the machine tool; the latter mainly refers to a set of factors affecting the room temperature or the air temperature, such as a building structure, an illuminating lamp, sunlight and the like which form a workshop where the machine tool is located. According to the basic law of heat conduction, heat energy is transferred among objects with high and low temperature differences in a heat conduction, convection or radiation mode, namely, in the process that a temperature field is unstable or the temperature does not reach a new temperature balance point, the machine tool body or key moving parts can generate natural continuous tiny expansion, contraction or bending physical deformation phenomena. Especially for the analysis of the forward design and manufacturing process of the machine tool, the following results are found: the factors causing the machine tool precision change by the thermal deformation mechanism are mainly evaluated and controlled in the design and manufacturing process. For example, a semi-closed loop moving part which generally affects the positioning accuracy of a machine tool should be required by a machine tool temperature control system and an environmental temperature constraint condition and should be designed to meet the requirement; the full closed loop moving part of the machine tool should be equal to the installation constraint condition requirement and the design of the detection grating or the encoder. The constraint conditions of the machine tool design and the manufacturing process are the foundation stones meeting the qualified positioning accuracy of the machine tool, the basic requirements of the machine tool accuracy time-lapse test are met, and the basic conditions of the invention are also met.
Through investigation on the use condition of a user of the high-precision numerically controlled milling machine and a large number of sufficient tests, time tests and mathematical statistics analysis, the user is found to be difficult to use the machine tool according to the requirements of the use specification of the equipment, such as the environmental temperature, the requirements of preheating operation before turning off and on the machine tool, and the like. Even if the linear shaft is configured with a full closed loop, and the spindle or the spindle box is configured with temperature monitoring measures such as a lubricating and cooling system, etc., the thermal deformation error of the machine tool is difficult to avoid in the long-term operation process of the spindle of the machine tool, and the conclusion that the thermal deformation error influencing the machining precision of the machine tool is mainly caused by the long-term rotation of the spindle at a high rotating speed, the thermal deformation trend is the axial extension of the spindle parallel to the Z axis (a mechanical coordinate system of the system), and the thermal deformation trend is closely related to the operation time of the spindle is obtained.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an error compensation method for realizing machine tool thermal deformation without a sensor. The method comprises the following specific contents:
in order to overcome the defects of the prior art, the invention provides an error compensation method for realizing machine tool thermal deformation without a sensor. The method comprises the following specific contents:
step 1: and simulating the operation condition of the machine tool by referring to the work shift and time of the user using the machine tool, rotating the main shaft, measuring the thermal deformation deviation value of the main shaft reference end surface in the Z-axis direction at intervals of 10-60 minutes, sequentially recording the deviation value of each interval point in the whole operation period of the machine tool, and making a table.
Step 2: and fitting out a time-lapse function of the thermal deformation deviation value of the machine tool main shaft in the Z-axis direction by using a least square method according to the time-lapse recording table of the thermal deformation deviation value, reasonably selecting the type of the fitting function, and preferably selecting the goodness-of-fit determining coefficient to be more than 0.9.
And step 3: and selecting a thermal deformation error compensation strategy of the machine tool according to the function and the actual requirement of the control unit of the numerical control system configured on the machine tool. Strategy 1: performing real-time thermal deformation error compensation by adopting an NC synchronous operation function; strategy 2: and (4) adopting a thermal deformation error threshold value set by a PLC (programmable logic controller), and exceeding the error threshold value to carry out random compensation.
And 4, step 4: according to a thermal deformation compensation monitoring strategy, a thermal deformation compensation program in a periodic cycle is compiled, the error calculation of a fitting function and the monitoring of a compensation strategy are executed, the error calculation result is used as a Z-axis coordinate deviation value of a mechanical coordinate system of the system, and the compensation is triggered to take effect.
And 5: the effect of this compensation function is checked under the actual operating conditions of the machine tool.
Step 6: and (5) repeating the steps 1 to 5 according to different use scenes of the machine tool, so that a use scene set of the machine tool thermal deformation compensation program can be formed.
The invention has the advantages that: according to the method, the influence of thermal deformation on high-precision machining of the machine tool is overcome by combining the structural configuration of the numerical control machine tool and the use condition of a user, the machine tool does not need to be provided with temperature sensors, a thermal deformation error fitting function is obtained through measuring the thermal deformation error of the machine tool, periodic cycle calculation of the thermal deformation error is carried out based on a numerical control system, and an NC (numerical control) synchronous or PLC (programmable logic controller) random monitoring compensation mode is adopted. A plurality of examples verify different machine tool use scenes, and the application set of various scenes can be converged by adopting the method, so that the convenient and efficient application range of the method is expanded.
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A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein the accompanying drawings are included to provide a further understanding of the invention and form a part of this specification, and wherein the illustrated embodiments of the invention and the description thereof are intended to illustrate and not limit the invention, as illustrated in the accompanying drawings, in which:
FIG. 1 is a graph of fitting machine tool thermal deformation errors according to an embodiment of the present invention.
The invention is further illustrated by the following examples in conjunction with the drawings.
Detailed Description
It will be apparent that those skilled in the art can make many modifications and variations based on the spirit of the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element, component or section is referred to as being "connected" to another element, component or section, it can be directly connected to the other element or section or intervening elements or sections may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.
Example 1: an error compensation method for realizing thermal deformation of a machine tool without a sensor.
Step 1: the method is characterized in that a numerically controlled milling machine is measured in a use scene, the operation condition of the machine in one working day is simulated, and the thermal deformation deviation value of the machine is recorded, and the table 1 is referred. The record table shows: the machine tool runs in an external temperature field with a stable workshop environment, the change of the thermal deformation measured deviation value is insensitive to the temperature change of the main shaft and positively correlated to the rotation time elapsed of the main shaft.
TABLE 1 TABLE OF TIME-LOOKING TABLE FOR THERMAL DEFORMATION VARIATION VALUE OF MACHINE TOOL
| Serial number | Time of operation | Workshop temperature (. Degree. C.) | Temperature of Main shaft (. Degree. C.) | Spindle operating mode speed (rpm) | Time interval (min) | Menstruation (min) | Measured deviation value (mm) | Fitting compensation value (mm) |
| 1 | 8:45 | 15.8 | 17.3 | 500 | 0:00 | 0 | 0.000 | 0.018 |
| 2 | 9:30 | 15.7 | 19.0 | 1000 | 0:45 | 45 | 0.000 | -0.005 |
| 3 | 9:50 | 17.2 | 19.8 | 1500 | 0:20 | 65 | 0.000 | -0.015 |
| 4 | 10:00 | 18.7 | 20.4 | 2600 | 0:10 | 75 | 0.000 | -0.019 |
| 5 | 10:30 | 18.7 | 25.4 | 2600 | 0:30 | 105 | 0.030 | -0.032 |
| 6 | 11:00 | 18.0 | 28.5 | 2600 | 0:30 | 135 | 0.050 | -0.044 |
| 7 | 12:00 | 18.8 | 28.4 | 2600 | 1:00 | 195 | 0.070 | -0.064 |
| 8 | 12:30 | 19.2 | 28.5 | 2600 | 0:30 | 225 | 0.075 | -0.073 |
| 9 | 13:00 | 19.3 | 29.4 | 2600 | 0:30 | 255 | 0.080 | -0.081 |
| 10 | 13:30 | 19.3 | 29.4 | 2600 | 0:30 | 285 | 0.085 | -0.087 |
| 11 | 14:00 | 19.3 | 30.6 | 2600 | 0:30 | 315 | 0.090 | -0.093 |
| 12 | 14:30 | 19.6 | 30.4 | 2600 | 0:30 | 345 | 0.095 | -0.097 |
| 13 | 15:30 | 19.6 | 29.5 | 2600 | 1:00 | 405 | 0.100 | -0. 02 |
| 14 | 16:00 | 19.8 | 29.3 | 2600 | 0:30 | 435 | 0.100 | -0.103 |
The 'time-lapse' time is in units of minutes, the start-stop operation working time of the machine tool is calibrated according to the time sequence, and the fitting function is established by simplifying and fitting the thermal deformation offset of the machine tool.
Step 2: according to the table 1, a time function of the thermal deformation deviation value of the machine tool is fitted by a least square method, a quadratic function fitting is adopted through calculation, the determination coefficient is 0.95, the fitting goodness is reasonable, and the fitting function is shown in the formula 1. The machine tool thermal deformation error fitting graph plotted in this way is shown in fig. 1.
And step 3: and determining a thermal deformation error compensation monitoring strategy according to the numerical control system resource configured by the machine tool.
And 4, step 4: according to the numerical control system programming language, the following global variables are established: a compensation error value threshold, C fitting calculation value (F (x) in formula (1)), D elapsed time (x in formula (1)), E machine tool current time, F machine tool initial time, system mechanical coordinate system offset variable and the like, and a thermal deformation error compensation program is written according to a determined monitoring strategy.
And 5: and under the actual running condition of the machine tool, triggering a thermal deformation error compensation program to periodically and circularly run, measuring the thermal deformation offset, and checking the improvement effect of the machine tool precision.
Step 6: when the use scene of the machine tool is changed greatly or other factors are detected according to the step 5, the machining precision of the machine tool cannot be improved, and the steps 1 to 5 are repeated to carry out related technical analysis and parameter change.
As described above, although the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that many modifications are possible without substantially departing from the invention and the effects thereof. Therefore, such modifications are also all included in the scope of protection of the present invention.
Claims (4)
1. An error compensation method for realizing thermal deformation of a machine tool without a sensor is characterized by comprising the following steps: step 1: simulating the operation condition of the machine tool by referring to the work shift and time of a user using the machine tool, rotating the main shaft, measuring the thermal deformation deviation value of the basic end surface of the main shaft in the Z-axis direction at intervals of 10-60 minutes, sequentially recording the deviation value of each interval point in the whole operation period of the machine tool and making a table; and 2, step: according to the time record table of the thermal deformation deviation value, fitting out a time function of the thermal deformation deviation value of the machine tool main shaft in the Z-axis direction by using a least square method, reasonably selecting the type of the fitting function, and preferably selecting the goodness-of-fit decision coefficient to be more than 0.9; and step 3: selecting a machine tool thermal deformation error compensation strategy according to the function and actual requirements of a machine tool configuration numerical control system control unit; strategy 1: performing real-time compensation of thermal deformation errors by adopting an NC synchronous operation function; strategy 2: adopting a thermal deformation error threshold value set by a PLC, and exceeding the error threshold value to carry out random compensation; and 4, step 4: according to a thermal deformation compensation monitoring strategy, a thermal deformation compensation program with a periodic cycle is compiled, fitting function error calculation and compensation strategy monitoring are executed, the error calculation result is used as a Z-axis coordinate deviation value of a system mechanical coordinate system, and compensation is triggered to take effect; and 5: checking the effect of the compensation function under the actual operation condition of the machine tool; step 6: and (5) repeating the steps 1 to 5 according to different use scenes of the machine tool, so that a use scene set of the machine tool thermal deformation compensation program can be formed.
2. The method for error compensation of thermal deformation of machine tool without sensor as claimed in claim 1, wherein the thermal deformation deviation value in the direction of Z axis of the reference end surface of the main shaft is measured.
3. The method of claim 1, wherein the thermal distortion offset value is a least squares fit time function with a coefficient greater than 0.9.
4. The method for realizing the error compensation of the thermal deformation of the machine tool without the sensor according to claim 1, wherein the thermal deformation compensation programs of different using scenes of the machine tool can be accumulated.
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