LU501845B1 - Control method and system for preventing shaking in shut-down of numerical control machine tool - Google Patents

Control method and system for preventing shaking in shut-down of numerical control machine tool Download PDF

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Publication number
LU501845B1
LU501845B1 LU501845A LU501845A LU501845B1 LU 501845 B1 LU501845 B1 LU 501845B1 LU 501845 A LU501845 A LU 501845A LU 501845 A LU501845 A LU 501845A LU 501845 B1 LU501845 B1 LU 501845B1
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machine tool
numerical control
control machine
dynamic stability
error
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LU501845A
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French (fr)
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Wenfeng Si
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Anhui Jiangji Heavy Duty Cnc Machine Tool Co Ltd
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    • 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
    • G05B19/406—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 monitoring or safety
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37435—Vibration of machine

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The present invention relates to the field of machining control, and in particular, to a control method and system for preventing shaking in shut-down of a numerical control machine tool. The method comprises: step S1, acquiring and obtaining a data set for determining the dynamic stability of the machine tool; step S2, using a fast search and a density peak algorithm to cluster the data set, and obtaining a cluster center; and step S3, continuing to acquire data and use an extension neural network algorithm to determine a dynamic stability condition of the numerical control machine tool.

Description

Description LU501845 Title: CONTROL METHOD AND SYSTEM FOR PREVENTING SHAKING IN SHUT-DOWN OF
NUMERICAL CONTROL MACHINE TOOL Technical Field The present invention relates to the field of machining control, and more particularly, to a control method and system for preventing shaking in shut-down of a numerical control machine tool. Background Art Like most machine tools, when a slant bed numerical control machine tool is shut down at the end of machining by the numerical control machine tool, the motion control of the machine tool is a very important link. Although a conventional method, i.e., switching off a servo mechanism, can achieve emergency shut-down, it is possible to cause severe shaking of a lathe, which affecting the performance of the machine tool or even the machining precision of the machine tool. Therefore, how to take an appropriate intervention measure according to the dynamic stability at the end of operation of a machine tool such that the machine tool can be shut down safely, smoothly and quickly to avoid vibration and damage to the machine tool is a technical problem that needs to be solved urgently by a skilled person. However, there is still no good solution in the prior art. Summary of the Invention In order to overcome the problems of shut-down vibration and damage to a numerical control machine tool in the prior art, the present invention provides a control method and system for preventing shaking in shut-down of a numerical control machine tool, which can determine a dynamic stability condition of the machine tool based on parameters at the end of operation of the machine tool, and accomplish shut-down and braking in a targeted manner, so as to solve the problems in the prior art.
The present invention is implemented by the following technical solution.
A control method for preventing shaking in shut-down of a numerical control machine tool comprises: step S1, acquiring a rolling error Aax, a pitch error Ax and a yaw error Ayx in an x-axis translation, and a rolling error Aaz, a pitch error ABz and a yaw error Ayz in a z-axis translation of the numerical control machine tool, and obtaining a data set for determining the dynamic stability of the machine tool; step S2, using a fast search and a density peak algorithm to cluster the above-mentioned data set, and obtaining a cluster center of a dynamic stability condition; LU501845 step S3, continuing to acquire real-time dynamic stability data set of the machine tool, and using an extension neural network algorithm to determine the dynamic stability condition of the numerical control machine tool; step S4, determining whether it is required to take a braking measure based on a result of determination of the dynamic stability in the previous step, wherein (1) if the dynamic stability is within an acceptable limit, no measure is taken to apply braking, such that the numerical control machine tool is shut down as usual; (2) if the dynamic stability is beyond the acceptable limit, a braking measure is taken to intervene in shaking; step S5, continuously acquiring an operating speed of a spindle of the numerical control machine tool; step S6, presetting the number of cycles for which the operating speed of the spindle is reduced to 0, calculating a speed control amount in a single cycle, and acquiring a driving acceleration Acc1 and a braking acceleration Acc2 in this cycle, wherein the driving acceleration Acc1 is calculated as follows: (1) ift< F, Acc1 = Tx (v/(T - F)), (2)ifF <t<T+F, Accl = V/T, (3) ift> T + F, Acc2 = (t- (T + F)) (V/(T - F)); the braking acceleration Acc2 is calculated as follows: (1) ifts<F, v=V-Acc2 - t, (2)ifF <t<T+F v=V-Acc2 -t-Accl - (t-F), (3) ift>T+F v=V-Acc2 - t-Acc1 - (t- F)-Acc2 - (t-F-T), where V is an initial speed, T is deceleration time, F is filtering time, t is deceleration moment, and v is an operating speed after deceleration; and step S7, executing the braking strategy of step S6 until the movement rate of the spindle of the numerical control machine tool is 0.
Further, in step S2, a process for the clustering is as follows: the data set is expressed as $ = foi , and a distance between a data point x; and a data point x; is expressed as: dj = dist (Xi, Xj), where x; and x; are any two data points in the data set S; a local density of the data points is calculated according to the following formula: p = aid -d)
where a function x (x) is: LU501845 A Lead ST and pi represents the local density of the points in S with the distances from x; less than a cutoff distance de; if the local density of x; is maximum, the formula is: Bi = max; (dj), where 6; represents the minimum point distance of x;; max; (dij) represents the maximum distance between a data point in S and x;; otherwise, if the local density of x; is not maximum, the formula is: 8 = min Cf} where in td, ¥ represents the minimum distance between the data point in S which has a greater local density than xi, and x;; each point in the data set is represented by pi and 6, a decision graph is drawn with p; and Bi as horizontal and vertical coordinates, and a category center of the stability condition is determined according to the decision graph.
Further, determining the dynamic stability in step S3 comprises the following process: (1) reading the data points acquired in real time Xi = {u, Xt2, +...) Xin}, where t represents the moment when each data point is acquired, n represents a data type corresponding to each data point, and X: represents a data set composed of the acquired data points; (2) using a formula en Pre TOE Hees i to calculate a distance between the acquired data point and the category center, where xj corresponds to a data point in the data set Xi, superscript p characterizes an initial category corresponding to a data point; zw represents an initial category center of a dynamic stability category; wi and wi, each represent an initial weight value of a classical domain of the dynamic stability category, wherein wi, is a minimum value, and wl is a maximum value; (3) if the condition E22. = min {£2,} is met, the data point belonging to the category; (4) sequentially recognizing all the acquired data points, if at least five or more data points in the data set belong to this category, determining that the dynamic stability of the machine tool isU501845 within the acceptable limit, otherwise, determining that the dynamic stability of the machine tool is beyond the acceptable limit.
Further, the preset number of cycles for which the operating speed is reduced to 0 in step S6 is not less than 1000, and the duration of a single cycle is greater than 0.1 s.
Further, each error acquired in step S1 is an error corresponding to each precision index of the numerical control machine tool after equipment completes the machining.
Further, during control, the operating speed of the spindle of the numerical control machine tool is controlled separately.
The present invention further provides a control system for preventing shaking in shut-down of a numerical control machine tool, which controls shaking in shut-down of the numerical control machine tool using the control method as described above. The system comprises: a data acquisition module for acquiring a rolling error Aax, a pitch error ABx, a yaw error Ayx in an x-axis translation, a rolling error Aay, a pitch error ABy, a yaw error Ayy in a y-axis translation, and a rolling error Aaz, a pitch error ABz, and a yaw error Ayz in a z-axis translation of the numerical control machine tool, and an operating speed v of the numerical control machine tool; a processing module comprising a first sub-module for completing clustering of a dynamic stability data set of the machine tool, a second sub-module for completing the recognition and determination of the dynamic stability of the machine tool, and a third sub-module for completing the calculation of a braking acceleration and a driving acceleration during braking; and an execution module for executing a corresponding braking control strategy; wherein the data acquisition module is electrically connected to the processing module, and the processing module is electrically connected to the execution module.
The control method for preventing shaking in shut-down of a numerical control machine tool provided by the present invention has the following beneficial effects: According to the present invention, on the basis of the acquired rolling errors, pitch errors and yaw errors A about the axis x and axis y of the machine tool, the dynamic stability condition of the numerical control machine tool is analyzed by means of the neural network algorithm, the stability condition is taken as a criterion for whether to intervene in the braking process after the numerical control machine tool is shut down, the braking intervention is applied only when determining that the numerical control machine tool has poor dynamic stability, otherwise, the numerical control machine tool is allowed to to be shut down as usual. In this method, a specific strategy scheme is also designed for the braking intervention process.
This method can not only allow for shut-down braking in a targeted manner, but also solve the problem in the prior art that significant shaking occurs in shut-down of the numerical control machine tool; in addition, no blind operation is carried out, and the intervention is carried out only when needed, which reduces the influences on the normal shutdown process of the machine took, U501845 and avoids unnecessary impairment to the performance of the numerical control machine tool. Brief Description of the Drawings Fig. 1 is a flow chart of a method for preventing shaking in shut-down of a numerical control machine tool in example 1; Fig. 2 is a module connection diagram of a control system for preventing shaking in shut- down of a numerical control machine tool in example 2; List of reference numerals: 001, data acquisition module; 002, processing module; 003, execution module; 021, first sub-module; 022, second sub-module; 023, third sub-module. Detailed Description of Embodiments In order to make the object, the technical solution and the advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that specific examples described herein are only used to explain the present invention, and are not intended to limit the present invention.
Example 1 As shown in Fig. 1, the example provides a control method for preventing shaking in shut- down of a numerical control machine tool, comprising the following process: a control method for preventing shaking in shut-down of a numerical control machine tool comprises: step S1, acquiring a rolling error Aax, a pitch error Ax and a yaw error Ayx in an x-axis translation, and a rolling error Aaz, a pitch error ABz and a yaw error Ayz in a z-axis translation of the numerical control machine tool, and obtaining a data set for determining the dynamic stability of the machine tool; step S2, using a fast search and a density peak algorithm to cluster the above-mentioned data set, and obtaining a cluster center of a dynamic stability condition; the process of the clustering method is as follows: the data set is expressed as $ = fxd , and a distance between a data point x; and a data point x; is expressed as: dj = dist (Xi, Xj), where x; and x; are any two data points in the data set S; a local density of the data points is calculated according to the following formula: pw ald, id)
where a function x (x) is: LU501845 ti ha ci AEF i Gx pi represents the local density of the points in S with the distances from x; less than a cutoff distance de; if the local density of x; is maximum, the formula is: Bi = max; (dj), where 6; represents the minimum point distance of x;; max; (dij) represents the maximum distance between a data point in S and x;; otherwise, if the local density of x; is not maximum, the formula is: &= win CA where min da, represents the minimum distance between the data point in S which has a greater local density than xi, and x;; each point in the data set is represented by pi and 6, a decision graph is drawn with p; and Bi as horizontal and vertical coordinates, and a category center of the stability condition is determined according to the decision graph. step S3, continuing to acquire real-time dynamic stability data set of the machine tool, and using an extension neural network algorithm to determine the dynamic stability condition of the numerical control machine tool; determining the dynamic stability in step S3 comprises the following process: (1) reading the data points acquired in real time Xi = {u, Xt2, +...) Xin}, where t represents the moment when each data point is acquired, n represents a data type corresponding to each data point, and X: represents a data set composed of the acquired data points; (2) using a formula £83, w= 3 ss +1 i = FO wig 32 i to calculate a distance between the acquired data point and the category center, where x corresponds to a data point in the data set X;, superscript p characterizes an initial category corresponding to a data point; zw represents an initial category center of a dynamic stability category: se and we each represent an initial weight value of a classical domain of the dynamic stability category, wherein we is a minimum value, 8 and is a maximum value; LU501845 (3) if the condition > = mind El, | is met, the data point belonging to the category; (4) sequentially recognizing all the acquired data points, if at least five or more data points in the data set belong to this category, determining that the dynamic stability of the machine tool is within the acceptable limit, otherwise, determining that the dynamic stability of the machine tool is beyond the acceptable limit.
step S4, determining whether it is required to take a braking measure based on a result of determination of the dynamic stability in the previous step, wherein (1) if the dynamic stability is within an acceptable limit, no measure is taken to apply braking, such that the numerical control machine tool is shut down as usual; (2) if the dynamic stability is beyond the acceptable limit, a braking measure is taken to intervene in shaking; step S5, continuously acquiring an operating speed of a spindle of the numerical control machine tool; step S6, presetting the number of cycles for which the operating speed of the spindle is reduced to 0, calculating a speed control amount in a single cycle, and acquiring a driving acceleration Acc1 and a braking acceleration Acc2 in this cycle, wherein the driving acceleration Acc1 is calculated as follows: (1) ift< F, Acc1 = Tx (v/(T - F)), (2)ifF <t<T+F, Accl = V/T, (3) ift> T + F, Acc2 = (t- (T + F)) (V/(T - F)) ; the braking acceleration Acc2 is calculated as follows: (1) ifts<F, v=V-Acc2 - t, (2)ifF <t<T+F v=V-Acc2 -t-Accl - (t-F), (3) ift>T+F v=V-Acc2 t-Acc1 - (t-F)-Ace2 - (t-F-T), where V is an initial speed, T is deceleration time, F is filtering time, t is deceleration moment, and v is an operating speed after deceleration; and step S7, executing the braking strategy of step S6 until the movement rate of the spindle of the numerical control machine tool is 0.
The preset number of cycles for which the operating speed is reduced to 0 in step S6 is not less than 1000, and the duration of a single cycle is greater than 0.1 s.
each error acquired in step S1 is an error corresponding to each precision index of the numerical control machine tool after equipment completes the machining.
during control, the operating speed of the spindle of the numerical control machine tool is controlled separately.
Example 2 LU501845 As shown in Fig. 2, the example provides a control system for preventing shaking in shut- down of a numerical control machine tool, which controls shaking in shut-down of the numerical control machine tool using the control method as described in example 1. The system comprises: a data acquisition module 001 for acquiring a rolling error Aax, a pitch error ABx, a yaw error Ayx in an x-axis translation, a rolling error Aay, a pitch error ABy, a yaw error Ayy in a y-axis translation, and a rolling error Aaz, a pitch error ABz, and a yaw error Ayz in a z-axis translation of the numerical control machine tool, and an operating speed v of the numerical control machine tool; a processing module 002 comprising a first sub-module 021 for completing clustering of a dynamic stability data set of the machine tool, a second sub-module 022 for completing the recognition and determination of the dynamic stability of the machine tool, and a third sub-module 023 for completing the calculation of a braking acceleration and a driving acceleration during braking; and an execution module 003 for executing a corresponding braking control strategy; wherein the data acquisition module 001 is electrically connected to the processing module 002, and the processing module 002 is electrically connected to the execution module 003.
The above examples are merely preferred examples of the present invention and not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims (7)

1. A control method for preventing shaking in shut-down of a numerical control machine tool, characterized in that the method comprises: step S1, acquiring a rolling error Aax, a pitch error ABx and a yaw error Ayx in an x-axis translation, and a rolling error Aaz, a pitch error ABz and a yaw error Ayz in a z-axis translation of the numerical control machine tool, and obtaining a data set for determining the dynamic stability of the machine tool; step S2, using a fast search and a density peak algorithm to cluster the above-mentioned data set, and obtaining a cluster center of a dynamic stability condition; step S3, continuing to acquire real-time dynamic stability data set of the machine tool, and using an extension neural network algorithm to determine the dynamic stability condition of the numerical control machine tool; step S4, determining whether it is required to take a braking measure based on a result of determination of the dynamic stability in the previous step, wherein (1) if the dynamic stability is within an acceptable limit, no measure is taken to apply braking, such that the numerical control machine tool is shut down as usual; (2) if the dynamic stability is beyond the acceptable limit, a braking measure is taken to intervene in shaking; step S5, continuously acquiring an operating speed of a spindle of the numerical control machine tool;
step S6, presetting the number of cycles for which the operating speed of the spindle is reduceldJ501845 to 0, calculating a speed control amount in a single cycle, and acquiring a driving acceleration Acc1 and a braking acceleration Acc2 in this cycle, wherein the driving acceleration Acc1 is calculated as follows: (1) ift<F, Acc1 = Tx (v/(T - F)), (2) ifF <t<T+F, Accl = V/T, (3) ift > T + F, Acc2 = (t- (T + F)) (V/(T - F)); the braking acceleration Acc2 is calculated as follows: (1) ift<F,v=V- Acc t, (2)ifF <t<T+F,v=V-Acc2 :t- Acc2 : (t-F), (3)ift>T+F,v=V-Acc2 t-Acc1 - (t-F)-Acc2 : (t-F-T), where V is an initial speed, T is deceleration time, F is filtering time, t is deceleration moment, and v is an operating speed after deceleration; and step S7, executing the braking strategy of step S6 until the movement rate of the spindle of the numerical control machine tool is 0.
2. The control method for preventing shaking in shut-down of the numerical control machine tool of claim 1, characterized in that in step S2, a process for the clustering is as follows: the data set is expressed as, and a distance between a data point x; and a data point x; is expressed as: dj = dist (Xi, Xj), where x; and x; are any two data points in the data set S;
a local density of the data points is calculated according to the following formula: LU501845 p= 2 md, do) where a function x (x) is: ” Haya ) head x 1 pi is the local density of the points in S with the distances from x; less than a cutoff distance de; if the local density of x; is maximum, the formula is: Bi = max; (dj), where 6; represents the minimum point distance of xi; max; (di) represents the maximum distance between a data point in S and x;; otherwise, if the local density of x; is not maximum, the formula is: B= in td) where indie} represents the minimum distance between the data point in S which has a greater local density than xi, and x;; each point in the data set is represented by pi and 6;, a decision graph is drawn with pi and 6; as horizontal and vertical coordinates, and a category center of the stability condition is determined according to the decision graph.
3. The control method for preventing shaking in shut-down of the numerical control machine tool of claim 2, characterized in that the cutoff distance dc = 0.0015.
4. The control method for preventing shaking in shut-down of the numerical control machine todlU501845 of claim 2, characterized in that determining the dynamic stability in step S3 comprises the following process: (1) reading the data points acquired in real time Xi = {u, Xt2, +...) Xin}, where t represents the moment when each data point is acquired, n represents a data type corresponding to each data point, and X: represents a data set composed of the acquired data points; (2) using a formula sn ei Xz inf a. al to calculate a distance between the acquired data point and the category center, where x} . corresponds to a data point in the data set Xi, superscript p characterizes an initial category corresponding to a data point; zw represents an initial category center of a dynamic stability category; * and we each represent an initial weight value of a classical domain of the dynamic stability category, wherein is a minimum value, and *; is a maximum value; (3) if the condition £2, = mis}#2,} is met, the data point belonging to the category; and (4) sequentially recognizing all the acquired data points, if at least five or more data points in the data set belong to this category, determining that the dynamic stability of the machine tool is within the acceptable limit, otherwise, determining that the dynamic stability of the machine tool is beyond the acceptable limit.
5. The control method for preventing shaking in shut-down of the numerical control machine todlU501845 of claim 1, characterized in that the preset number of cycles for which the operating speed is reduced to 0 in step S6 is not less than 1000, and the duration of a single cycle is greater than
0.1s.
6. The control method for preventing shaking in shut-down of the numerical control machine tool of claim 1, characterized in that each error acquired in step S1 is an error corresponding to each precision index of the numerical control machine tool after equipment completes the machining.
7. A control system for preventing shaking in shut-down of a numerical control machine tool, characterized in that the control system controls shaking in shut-down of the numerical control machine tool by using a control method of any one of claims 1-6, and comprises: a data acquisition module for acquiring a rolling error Aax, a pitch error ABx, a yaw error Ayx in an x-axis translation, a rolling error Aay, a pitch error ABy, a yaw error Ayy in a y-axis translation, and a rolling error Aaz, a pitch error ABz, and a yaw error Ayz in a z-axis translation of the numerical control machine tool, and an operating speed v of the numerical control machine tool; a processing module comprising a first sub-module for completing clustering of a dynamic stability data set of the machine tool, a second sub-module for completing the recognition and determination of the dynamic stability of the machine tool, and a third sub-module for completing the calculation of a braking acceleration and a driving acceleration during braking; and an execution module for executing a corresponding braking control strategy; wherein the data acquisition module is electrically connected to the processing module, and the processing module is electrically connected to the execution module.
LU501845A 2022-04-14 2022-04-14 Control method and system for preventing shaking in shut-down of numerical control machine tool LU501845B1 (en)

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