KR20100083473A - Apparatus for compensation of chatter vibration in machine tools - Google Patents

Apparatus for compensation of chatter vibration in machine tools Download PDF

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KR20100083473A
KR20100083473A KR1020090002861A KR20090002861A KR20100083473A KR 20100083473 A KR20100083473 A KR 20100083473A KR 1020090002861 A KR1020090002861 A KR 1020090002861A KR 20090002861 A KR20090002861 A KR 20090002861A KR 20100083473 A KR20100083473 A KR 20100083473A
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chatter vibration
sensor
chatter
machine tool
signal
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KR1020090002861A
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Korean (ko)
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KR101015058B1 (en
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김동훈
송준엽
차석근
황진동
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한국기계연구원
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    • 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
    • B23Q23/00—Arrangements for compensating for irregularities or wear, e.g. of ways, of setting mechanisms
    • 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
    • B23Q17/007—Arrangements for observing, indicating or measuring on machine tools for managing machine functions not concerning the tool
    • 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
    • B23Q17/12—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring vibration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE: A chatter vibration compensation apparatus of a machine tool is provided to produce accurate articles by rapidly compensating the chatter vibration of machine tool. CONSTITUTION: A chatter vibration compensation apparatus of a machine tool comprises a sensor(1) and a chatter compensator(2). The sensor is installed in the machine tool, and senses the chatter vibration of the machine tool. The chatter compensator outputs the compensation value by the chatter vibration which is detected from the sensor.

Description

공작기계의 채터진동 보상장치{Apparatus for compensation of chatter vibration in machine tools}Apparatus for compensation of chatter vibration in machine tools

본 발명은 채터진동 보상장치에 관한 것으로써, 상세하게는 공작기계의 구동 중 발생되는 채터진동을 실시간으로 감지하여 이를 보상함으로써 보다 빨리 채터진동을 보상함을 물론 보다 정밀한 가공물을 생산할 수 있는 채터진동 보상장치에 관한 것이다. The present invention relates to a chatter vibration compensation device, and in detail, chatter vibration that is generated during the operation of a machine tool in real time and compensates for the chatter vibration can be compensated for faster chatter vibration can be produced more precise workpieces It relates to a compensation device.

공작기계를 이용한 가공시 열변형 다음으로 가공정밀도에 큰 영향을 미치는 것이 채터진동(chatter vibration)이다. After machining with machine tools, chatter vibration is the next major influence on machining accuracy.

채터진동은 공작기계를 이용한 가공 과정에서 소재와 공구사이에 나타나는 급격한 상대진동으로 이러한 진동은 가공 소재 품질에 심각한 영향을 미치는 요소일 뿐만 아니라 가공 툴(tool)과 기계에 손상을 유발시키는 원인으로 작용한다. Chatter vibrations are sudden relative vibrations between materials and tools during machining using machine tools. These vibrations not only have a serious impact on the quality of the workpiece, but also cause damage to machining tools and machines. do.

따라서 가공성과 안정성을 확보하기 위해서는 채터진동은 반드시 제거되어야 하여야 한다. 이러한 공작기계의 가공시 발생하는 채터진동은 특정한 절삭조건에서 발생한다. 즉, 가공기계의 구동속도나 이동속도, 절삭깊이 등을 조절함에 의해 채터진동을 줄일 수 있다. Therefore, chatter vibration must be removed to ensure processability and stability. Chatter vibrations generated during the machining of such machine tools occur under specific cutting conditions. That is, chatter vibration can be reduced by adjusting the driving speed, moving speed, cutting depth, and the like of the processing machine.

따라서, 공작기계는 이러한 채터진동을 보상하기 위하여 채터진동 예측모델 및 이송속도 및 회전속도 조절을 위한 기능을 컨트롤러인 CNC(Computerized Numerical Controller)를 실장하여 사용하고 있다. Therefore, in order to compensate for the chatter vibration, the machine tool uses a CNC (Computerized Numerical Controller) which is a controller for predicting the chatter vibration model and adjusting the feed and rotation speeds.

이러한 채터진동을 줄이는 기존의 채터진동 보상 방법은 공작기계에 가공물을 물려놓은 후 여러 가공조건으로 실험을 수행할 때 작업자의 시각적인 정보즉, 육안(肉眼)으로 가공시 공구가 심하게 떨리는지를 판단하고 이를 DB화해서 다음의 가공 수행시 채터진동이 일어나지 않도록 하는 가공조건 검사 방법과, 육안(肉眼)을 대신하여 가속도 센서로 데이터를 획득하고 이를 분석하여 각 가공조건에 대한 채터진동의 유무를 분류하여 다음 작업시 채터진동이 일어나지 않도록 가공조건을 선정하는 방법이 사용되고 있다. The conventional chatter vibration compensation method that reduces chatter vibration reduces the vibration of the tool during visual processing, i.e. the human eye, when the experiment is carried out under various machining conditions after the workpiece is left in the machine tool. This method is used to check the processing conditions to prevent chatter vibrations from occurring during the next machining process, and to acquire data from the acceleration sensor instead of the naked eye and analyze the data. In order to prevent chatter vibration in the next operation, a method of selecting processing conditions is used.

그러나 이러한 채터진동 조정 방법은 실시간 보상의 개념이 아니어서 미리 가공전에 충분한 실험 데이터를 확보한 후 이 실험 데이터를 근거로 채터진동을 보상하여야 하므로 채터진동의 보상에 많은 시간과 노력이 소요되는 단점이 있었다. However, this chatter vibration adjustment method is not a real-time compensation concept. Therefore, since sufficient experimental data must be secured before processing and the chatter vibration must be compensated based on the experimental data, the chatter vibration compensation takes much time and effort. there was.

본 발명은 상기와 같은 종래 기술의 문제점을 해결하기 위해 개발된 것으로써, 가공 과정에서 발생되는 채터진동을 실시간에 감지하고, 채터진동 발생시 동적으로 가공조건을 변화시킬 수 있도록함으로써 보다 능동적으로 채터진동을 보상할 수 있는 채터진동 보상장치를 제공하는 것을 목적으로 한다. The present invention has been developed to solve the problems of the prior art as described above, by detecting the chatter vibration generated during the process in real time, and dynamically changing the chatter conditions when chatter vibration occurs more actively chatter vibration It is an object of the present invention to provide a chatter vibration compensation device capable of compensating for the loss.

이러한 본 발명의 공작기계의 채터진동 보상장치는 콘트롤러의 제어에 의해 구동되는 공작기계의 채터진동을 감지하여 보상하는 채터진동 보상장치에 있어서, 상기 공작기계에 설치되어 공작기계의 채터진동을 감지하는 센서와 ; 상기 센서로부터 감지된 채터진동에 따라 보상값을 산출하는 채터보상기를 포함하여 구성됨을 특징으로 한다. The chatter vibration compensation device of the machine tool of the present invention is a chatter vibration compensation device that detects and compensates chatter vibration of a machine tool driven by a controller, and is installed in the machine tool to detect chatter vibration of a machine tool. Sensor; And a chatter compensator for calculating a compensation value according to the chatter vibration detected by the sensor.

본 발명은 공작기계의 구동 중 발생되는 채터진동을 실시간으로 감지하여 이를 보상함으로써 보다 빨리 채터진동을 보상함을 물론 보다 정밀한 가공물을 생산할 수 있는 효과가 있다. The present invention has the effect of compensating for chatter vibrations faster by detecting chatter vibrations generated during driving of a machine tool in real time, and of producing more precise workpieces.

이하, 본 발명에 따른 공작기계의 채터진동 보상장치를 첨부된 도면을 참조하여 상세하게 설명한다. Hereinafter, a chatter vibration compensation device of a machine tool according to the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 따른 공작기계의 채터진동 보상장치의 구성도이고, 도 2는 본 발명의 공작기계의 채터진동 보상장치에 구성된 채터보상기의 구성도이고, 도 3은 센서의 위치를 도시한 것이고, 도 4는 본 발명에 따른 공작기계의 채터진동 보상장치를 이용한 공작기계의 제어과정을 도시한 흐름도이다. 1 is a configuration diagram of a chatter vibration compensation device of a machine tool according to the present invention, Figure 2 is a configuration diagram of a chatter compensator configured in the chatter vibration compensation device of the machine tool of the present invention, Figure 3 shows the position of the sensor 4 is a flowchart illustrating a control process of a machine tool using a chatter vibration compensation device of the machine tool according to the present invention.

도시한 바와 같이 본 발명에 따른 공작기계의 채터보장장치는 콘트롤러(3)의 제어에 의해 구동되는 공작기계(100)의 채터진동을 감지하여 보상하는 채터진동 보상장치에 있어서, 상기 공작기계(100)에 설치되어 공작기계의 채터진동을 감지하는 센서(1)와 ; 상기 센서(1)로부터 감지된 채터진동에 따라 보상값을 산출하는 채터 보상기(2)를 포함하여 구성된다. As shown in the chattering device of the machine tool according to the present invention in the chatter vibration compensation device for detecting and compensating chatter vibration of the machine tool 100 driven by the control of the controller 3, the machine tool 100 A sensor (1) installed in the sensing unit for detecting chatter vibration of the machine tool; And a chatter compensator 2 for calculating a compensation value according to the chatter vibration detected by the sensor 1.

상기 센서(1)는 공작기계의 공구툴에 설치되어 공구툴의 채터링을 감지하기 위한 수단으로 공구툴의 수평진동은 물론 상하진동을 감지한다. The sensor 1 is installed in a tool tool of a machine tool to sense chattering of the tool, and detects vertical vibration as well as vertical vibration of the tool.

상기 센서(1)는 가속도센서를 이용할 수 있으며, 공구툴의 진동에 따른 속도를 감지하며, 도 3에 도시한 바와 같이, 수평진동을 감지하기 위해서는 X축변위를 감지하기 위한 센서(1x)와, Y축변위를 감지하기 위한 센서(1y)를 구비하고 있으며, 상하진동을 감지하기 위해서는 Z축변위를 감지하는 센서(1z)를 구비하고 있다. The sensor 1 may use an acceleration sensor, detect a speed according to vibration of a tool, and as shown in FIG. 3, to detect horizontal vibration, a sensor 1x for detecting an X-axis displacement and In addition, a sensor 1y for detecting a Y-axis displacement is provided, and a sensor 1z for detecting a Z-axis displacement is provided to detect vertical vibration.

상기 센서(1)에서 감지된 신호는 도 1에 도시한 바와 같이 신호증폭기(4)에 의해 증폭된 상태로 채터보상기(2)로 전달된다. The signal sensed by the sensor 1 is transferred to the chatter compensator 2 in a state amplified by the signal amplifier 4 as shown in FIG. 1.

이렇게 감지된 신호를 신호증폭기(4)로 증폭하여 전송함으로써 감지된 신호가 외부의 노이즈에 의해 변형되는 것을 방지할 수 있다. By amplifying and transmitting the detected signal to the signal amplifier 4, it is possible to prevent the detected signal from being deformed by external noise.

상기 센서(1)에서 감지된 신호는 상기 채터보상기(2)에 의해 연산되어 채터보상기에 기 입력된 기준값과 비교하여 채터진동의 발생여부를 판단하고 채터진동이 발생되었을 때에는 공작기계가 채터진동을 일으키지 않는 상태로 작동할 수 있는 조건인 보상값을 산출하여 상기 콘트롤러(3)에 제어신호를 전송하여 공작기게의 공구툴의 회전속도나 이송속도 또는 절삭깊이를 조절하여 채터진동이 발생되지 않게 한다. The signal sensed by the sensor (1) is calculated by the chatter compensator (2) to determine whether chatter vibration is generated by comparing with the reference value input to the chatter compensator, and when the chatter vibration is generated, the machine tool performs chatter vibration. Compensation value, which is a condition that can operate in a non-causing state, is calculated, and a control signal is transmitted to the controller 3 so that chatter vibration is not generated by adjusting the rotation speed, the feed speed, or the cutting depth of the tool tool of the machine tool. .

상기 채터보상기(2)와 콘트롤러(3)는 통신수단으로 연결되어 채터보상기(2)에서 전송되는 신호에 의해 콘트롤러(3)의 제어가 이루어질 수 있으며, 통신방식으로는 유선통신보다는 무선통신방식을 이용함으로써 채터보상기(2)와 콘트롤러(3) 사이에 통신선을 연결하는 번거로움과 통신선의 배선에 따른 복잡함을 해소하였다. The chatter compensator 2 and the controller 3 are connected to a communication means, so that the controller 3 can be controlled by a signal transmitted from the chatter compensator 2. This eliminates the trouble of connecting the communication line between the chatter compensator 2 and the controller 3 and the complexity of the wiring of the communication line.

이렇게 상기 채터보상기(2)와 콘트롤러(3)를 무선통신으로 연결하기 위해 상기 상기 채터보상기(2)와 콘트롤러(3)에는 무선통신모듈(2a, 3a)이 구비되어 있으며, 상기 무선통신모듈(2a, 3a)은 채터보상기(2)와 콘트롤러(3) 사이의 거리가 멀지 않음으로 블루투스모듈로 사용할 수 있다. In order to connect the chatter compensator 2 and the controller 3 by wireless communication, the chatter compensator 2 and the controller 3 are provided with wireless communication modules 2a and 3a. 2a and 3a may be used as a Bluetooth module because the distance between the chatter compensator 2 and the controller 3 is not far.

상기한 바와 같이 상기 채터보상기(2)는 센서(10에서 감지된 신호로부터 공구툴의 채터진동여부를 판단하고 채터진동이 발생한 경우 보상값을 출력하여 콘트롤러(3)가 보상된 값으로 공작기계를 제어할 수 있게 하기 위한 수단으로 A/D변환기(21)와, 디지털필터(22)와, 실효값추출기(23) 및 보상프로세서(24)를 포함하여 구성된다. As described above, the chatter compensator 2 determines whether chatter vibration of the tool tool is determined from the signal sensed by the sensor 10, and outputs a compensation value when chatter vibration occurs, thereby operating the machine tool with the compensated value. The control unit includes an A / D converter 21, a digital filter 22, an effective value extractor 23, and a compensation processor 24.

상기 A/D변환기(21)는 상기 센서(1)로부터 감지된 아날로그 신호를 디지컬신호로 변환하는 수단이고, 상기 디지털필터(22)는 기 설정된 주파수 대역의 신호를 검출하기 위한 수단으로서 상기 A/D변환기에서 출력되는 신호를 주파수 분리하기 위한 것이며, 상기 실효값추출기(RMS)(23)는 필터링된 신호의 에너지레벨을 산출하기 위해 제곱 평균(Root Mean Square)하여 실효값을 추출하는 수단이다. The A / D converter 21 is a means for converting the analog signal sensed from the sensor 1 into a digital signal, and the digital filter 22 is a means for detecting a signal of a preset frequency band. Frequency separation of the signal output from the / D converter, the RMS extractor (RMS) 23 is a means for extracting the root mean square (Root Mean Square) to calculate the energy level of the filtered signal .

상기 보상프로세서(24)는 기 설정된 기준값 즉, 채터진동 여부를 판단하기 위한 기준 에너지레벨과 검출된 신호의 에너지레벨을 비교하여 채터진동 여부를 판단하고, 채터진동이 발생하였을 때에는 보상된 제어신호를 상기 콘트롤러(3)에 전송하는 역할을 한다. The compensation processor 24 compares a predetermined reference value, that is, a reference energy level for determining chatter vibration with an energy level of the detected signal, to determine whether chatter vibration is generated, and when the chatter vibration occurs, compensates for the compensated control signal. It serves to transmit to the controller (3).

상기 보상프로세서(24)는 프로그램으로 구성될 수 있으며, 이는 컴퓨터 수치 제어(CNC : computerized numerical control)로 구성될 수 있다. The compensation processor 24 may be configured as a program, which may be configured by computerized numerical control (CNC).

상기와 같이 구성된 공작기계의 채터진동 보상장치에 있어서, 이송속도 및 회전속도는 아래와 같은 시스템 변수를 통해 입출력이 가능하다.In the chatter vibration compensator of the machine tool configured as described above, the feed speed and the rotation speed can be input and output through the following system variables.

$AC_OVR : 패스 오버라이드$ AC_OVR: Pass Override

S : 스핀들 스피드S: spindle speed

프로그래밍의 로직은 아래와 같이 일정한 가공패턴을 반복하는 NC 프로그램으로 작성되고, 가공중 Spindle Speed, Axis Feedrate 절환을 위해 “Synchronized action" 기능을 사용하였으며, NC 프로그램의 Spindle speed, Axis Feedrate 관련 링크변수를 직접제어. 링크변수의 변화가 있을 때에는 가공에 즉시 적용할 수 있게 하였다. The logic of programming is written in NC program that repeats certain machining patterns as below, and it uses “Synchronized action” function to change spindle speed and axis feedrate during machining, and directly links link variables related to spindle speed and axis feedrate of NC program. Control When the link variable changes, it can be applied immediately to the machining.

Figure 112009002279306-PAT00001
Figure 112009002279306-PAT00001

도 1은 본 발명에 따른 공작기계의 채터진동 보상장치의 구성도이고, 1 is a block diagram of a chatter vibration compensator of a machine tool according to the present invention;

도 2는 본 발명의 공작기계의 채터진동 보상장치에 구성된 채터보상기의 구성도이고, 2 is a configuration diagram of a chatter compensator configured in the chatter vibration compensator of the machine tool of the present invention;

도 3은 센서의 위치를 도시한 것이고, 3 shows the position of the sensor,

도 4는 본 발명에 따른 공작기계의 채터진동 보상장치를 이용한 공작기계의 제어과정을 도시한 흐름도이다. 4 is a flowchart illustrating a control process of a machine tool using a chatter vibration compensation device of the machine tool according to the present invention.

<도면의 주요 부분에 대한 부호 설명><Description of the symbols for the main parts of the drawings>

1, 1x, 1y, 1z : 센서1, 1x, 1y, 1z: sensor

2 : 채터보상기2: chatter compensator

2a, 3a : 통신모듈  2a, 3a: communication module

21 : A/D변환기  21: A / D Converter

22 : 디지털필터  22: digital filter

23 : 실효값추출기  23: effective value extractor

24 : 보상프로세서  24: compensation processor

3 : 콘트롤러3: Controller

4 : 신호증폭기4: signal amplifier

Claims (6)

채터 진동 보상기능을 구비한 콘트롤러(3)의 제어에 의해 구동되는 공작기계(100)의 채터진동을 감지하여 보상하는 채터진동 보상장치에 있어서, In the chatter vibration compensation device for detecting and compensating chatter vibration of the machine tool 100 driven by the control of the controller (3) having a chatter vibration compensation function, 상기 공작기계(100)에 설치되어 공작기계의 채터진동을 감지하는 센서(1)와 ; A sensor (1) installed in the machine tool (100) for detecting chatter vibration of the machine tool; 상기 센서(1)로부터 감지된 채터진동에 따라 보상값을 산출하는 채터보상기(2)를 포함하여 구성됨을 특징으로 하는 공작기계의 채터진동 보상장치. And a chatter compensator (2) for calculating a compensation value according to the chatter vibration detected by the sensor (1). 제 1 항에 있어서, The method of claim 1, 상기 센서(1)의 출력단에는 센서의 출력신호를 증폭하는 신호증폭기(4)가 설치됨을 특징으로 하는 공작기계의 채터진동 보상장치. Chatter vibration compensation device of the machine tool, characterized in that the signal amplifier (4) for amplifying the output signal of the sensor is installed at the output end of the sensor (1). 제 1 항 또는 제 2 항에 있어서, The method according to claim 1 or 2, 상기 센서(1)는 가속도센서임을 특징으로 하는 공작기계의 채터진동 보상장치. Chatter vibration compensation device of the machine tool, characterized in that the sensor (1) is an acceleration sensor. 제 3 항에 있어서, The method of claim 3, wherein 상기 채터보상기(2)와 콘트롤러(3)에는 무선통신모듈(2a, 3a)을 구비함을 특징으로 하는 공작기계의 채터진동 보상장치. Chatter vibration compensator for the machine tool, characterized in that the chatter compensator (2) and the controller (3) is provided with a wireless communication module (2a, 3a). 제 4 항에 있어서, The method of claim 4, wherein 상기 채터보상기(2)는 The chatter compensator 2 상기 센서(1)로부터 감지된 아날로그 신호를 디지컬신호로 변환하는 A/D변환기(21)와 ; An A / D converter 21 for converting the analog signal sensed by the sensor 1 into a digital signal; 기 설정된 주파수 대역과 비교하여 감지된 신호의 채터진동 여부를 판단할 수 있도록 상기 A/D변환기에서 디지털신호로 변환된 신호를 필터링하는 디지털필터(22)와 ; A digital filter 22 for filtering a signal converted into a digital signal by the A / D converter so as to determine whether the detected signal is chattered or vibration compared with a preset frequency band; 필터링된 신호의 에너지레벨을 산출하기 위해 제곱 평균(Root Mean Square)하여 실효값을 추출하는 실효값추출기(RMS)(23)와 ; A root mean square (RMS) 23 for extracting an effective value by root mean square to calculate an energy level of the filtered signal; 기 설정된 기준값과 검출된 신호의 에너지레벨을 비교하여 채터진동 여부를 판단하고, 채터진동이 발생하였을 때에는 보상된 제어신호를 상기 콘트롤러(3)에 전송하는 보상프로세서(24)로 구성됨을 특징으로 하는 공작기계의 채터진동 보상장치. Comparing the energy level of the detected signal with a predetermined reference value to determine whether chatter vibration, and when the chatter vibration occurs, a compensation processor 24 for transmitting a compensated control signal to the controller (3) Chatter vibration compensation device for machine tools. 제 5 항에 있어서, The method of claim 5, 상기 센서(1)는 X축변위를 감지하는 센서(1x)와, Y축변위를 감지하는 센서(!y)와, Z축변위를 감지하는 센서(1z)임을 특징으로 하는 공작기계의 채터진동 보상장치. The sensor 1 is a chatter vibration of a machine tool, characterized in that the sensor (1x) for detecting the X-axis displacement, the sensor (! Y) for detecting the Y-axis displacement, the sensor (1z) for detecting the Z-axis displacement Compensation device.
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