WO1994021425A1 - Tool life management method by estimation of disturbance load - Google Patents
Tool life management method by estimation of disturbance load Download PDFInfo
- Publication number
- WO1994021425A1 WO1994021425A1 PCT/JP1994/000336 JP9400336W WO9421425A1 WO 1994021425 A1 WO1994021425 A1 WO 1994021425A1 JP 9400336 W JP9400336 W JP 9400336W WO 9421425 A1 WO9421425 A1 WO 9421425A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- estimated
- tool life
- load torque
- disturbance load
- Prior art date
Links
- 238000007726 management method Methods 0.000 title claims description 18
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000003754 machining Methods 0.000 claims description 15
- 230000007423 decrease Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- 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
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
-
- 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
- G05B19/4065—Monitoring tool breakage, life or condition
-
- 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
- G05B2219/37252—Life of tool, service life, decay, wear estimation
-
- 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
- G05B2219/37285—Load, current taken by motor
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41368—Disturbance observer, inject disturbance, adapt controller to resulting effect
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41376—Tool wear, flank and crater, estimation from cutting force
-
- 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41379—Estimate torque from command torque and measured speed
Definitions
- the present invention relates to a tool life management method for detecting that a tool of a machine tool has reached the end of its life, and more particularly to a tool life management method based on disturbance load estimation.
- Tool management is performed by visually observing the tool and measuring the tool wear, observing the cutting condition of the workpiece and monitoring the tool wear, and determining when to replace the tool. It depends on the experience and intuition of the person, and lacks accuracy and has no objective standard for tool management.
- the tool management method in which the tool usage time is accumulated and the accumulated time has reached a predetermined life time, the tool is replaced with a new one. In some cases, the tool may be replaced as it has reached its end of life. Conversely, the actual tool Despite severe wear, the tool has not reached the end of its service life even though the tool change time has already been reached, and the tool will not be replaced, resulting in reduced machining accuracy or wasteful work. There is a problem of consuming energy. In other words, even when the tool life is controlled by the use time, the life management is not accurate and not absolute.
- the present invention provides a tool life management method in which the tool life is objectively and accurately determined based on the magnitude of the estimated load applied to the tool.
- the tool life management method of the present invention includes a step of executing a predetermined machining on a predetermined workpiece using a machine tool, and a mode for driving a spindle during the execution of the machining.
- the disturbance estimation observer estimates the disturbance load torque from the torque command value commanded instantaneously and the actual speed of the motor.
- the load applied to the tool is estimated by estimating the disturbance load torque applied to the motor by the disturbance estimation observer.
- a change in the estimated disturbance load torque means a change in the load applied to the tool, which means that the tool is being worn.
- the tool wears out and reaches the end of its life. Judgment is made, and a tool life command such as tool replacement is output.
- the estimated disturbance load torque equal to or greater than the set reference value continues for more than the set time, it is determined that the tool has reached the end of its life. Also, in tools and machining where the tool slips on the work surface when the tool is worn and the cutting load is extremely reduced, when the estimated disturbance load torque below the set reference value continues for the set time or longer. Judge that the tool has reached the end of its life.
- FIG. 1 is a block diagram showing a motor control system and a disturbance estimation observer according to the present invention.
- FIG. 2 is a block diagram of a main part of a control device of a machine tool for implementing the present invention.
- FIG. 3 shows the velocity loop processing and the disturbance estimation observer processing for each velocity loop processing cycle in one embodiment of the present invention.
- FIG. 4 is a flowchart showing the tool life determining process executed by the numerical controller.
- FIG. 1 shows that a proportional control (P control) is performed on a position, and a proportional integral control (PI control) is performed on a speed to drive a feed axis of a machine tool.
- P control proportional control
- PI control proportional integral control
- a servomotor control system to be used and an observer 6 that estimates the disturbance load torque applied to this control system are shown.
- Term 1 K P is the proportional gain in the position loop
- term 2 is the transfer function in the velocity loop
- K 1 is the integral constant
- K 2 is the proportional constant.
- Terms 3 and 4 are the transfer functions of the motor
- Kt is the torque constant
- J is the inertia
- term 5 is the transfer function that calculates the position 0 by integrating the velocity V. is there.
- T L is a disturbance Tonolek. Note that S is a Lavras operator.
- the torque command (current command) I is obtained by performing PI control based on the difference (speed deviation) between the speed command value Vc md and the actual speed V, and the motor is determined based on the obtained torque command I. Controls the current to drive the motor. The motor rotates at the speed V, and the position is obtained by integrating this speed V.
- K3 in Item 62 and K4 in Item 63 are parameters of the disturbance estimation observer.
- Item 61 is a parameter that is multiplied by the current value I as a torque command that is actually output to the servomotor.
- the estimated value Kt * of the motor torque constant is the estimated value of the inertia. It is the value divided by J *. 6 4 is an integral term.
- T dl V err- (K 4 / S)
- T d2 (T cU-k ⁇ V) (J s K t) ... (8) Then, a predetermined work is executed on a predetermined work by a predetermined processing program. Whether or not the tool has reached the end of its life is determined based on the magnitude of the estimated disturbance load torque Td2 obtained at this time.
- FIG. 2 is a block diagram of a main part of a servomotor control system that implements the method of the present invention.
- a movement command and various control signals are transmitted from a numerical controller 10 for controlling a machine tool via a shared memory 11.
- the digital servo circuit 12 is equipped with a processor, ROM and RAM, digitally controls the servo control of position, speed, etc., and is composed of a transistor inverter, etc.
- the servo motors 14 of each axis are controlled via the servo amplifiers 13.
- the position and speed detector that detects position and speed The speed detector 15 is composed of a pulse coder or the like attached to the output shaft of the servomotor, and outputs position and speed feedback signals to the digital servo circuit 12 . These configurations are the same as those of a conventionally known digital servo circuit.
- machining is performed on a predetermined work according to a predetermined machining program.
- the constants K3 and K4 of the observer 6, the estimated torque constant Kt *, the estimated inertia J *, and the coefficient k of the estimated friction torque are set in the digital servo circuit 12 in advance. Please keep it.
- a reference value T s for detecting tool life and a load change duration time t 0 are set in advance.
- FIG. 3 is a flow chart of the speed loop processing executed by the processor of the digital servo circuit 3 in each speed loop processing cycle and the processing of the disturbance estimation observer.When the processing is started, The processor of the digital sensor circuit 12 executes this processing at every speed-lube processing cycle.
- step S1 the speed command Vcmd obtained by the position loop processing and the speed feedback representing the actual speed of the servo motor fed back from the position and speed detector 15 are described. Read the threshold value V.
- step S2 the speed loop processing is performed as described above from the speed command Vcrad and the speed feedback value V, and the torque command I is obtained. Hand over to flow loop.
- step S3 the estimated speed Va stored in the register R (Va) is subtracted from the speed feedback value V read in step S1 to estimate the actual speed. Find the speed difference V err.
- step S 4 a value obtained by multiplying the difference V err obtained above by the set constant K 4 is added to an accumulator storing the total disturbance estimated value T dl, and the total disturbance estimation in the cycle is performed. Find the value T dl.
- the processing in step S4 is processing by element 63 in FIG.
- step S5 the total disturbance estimation value Tdl obtained in step S4 is added to the register R (Va) that stores the estimated speed va, and The value obtained by multiplying the difference V err obtained in step S 3 by the constant K 3 is added, and the torque command I read in the previous cycle stored in the register R (I) is added to the estimated torque constant and the estimated torque constant. The value multiplied by the ratio of the estimated inertia (Kt * ZJ *) is added to obtain the estimated speed Va of the cycle, and stored in the register R (Va).
- the process of step S5 is a process of obtaining the estimated speed Va by the processes of elements 61, 62, and 64 in FIG.
- step S6 the torque command value I read in step S2 is stored in register R (I).
- step S7 the estimated inertia is set to a value obtained by subtracting the friction torque (kV) proportional to the speed from the total estimated disturbance value Td1 obtained in step S4.
- Estimated disturbance load torque Td2 that eliminates friction torque by multiplying by the ratio of shear and estimated torque constant (J * ZKt *) Ask for. That is, the total estimated disturbance value T dl, the setting coefficient k, and the speed feedback value V read in step S 1, the ratio of the estimated inertia to the estimated torque constant (J * ZK t *),
- the estimated disturbance load torque T d2 is obtained by performing the calculation of the above equation (8).
- the estimated disturbance load torque Td2 obtained in this way is written to the shared memory 11 in step S8, and the processing of the speed loop concerned ends.
- a PMC (programmable machine controller) mouth sensor that executes the sequence control in the numerical controller 10 is provided at every predetermined period longer than the above speed loop processing period. Then, the processing shown in FIG.
- step A1 the estimated disturbance load torque Td2 was read from the shared memory 11 and the absolute value of the estimated disturbance load torque Td2 was set in step A2. It is determined whether it is equal to or more than the reference value Ts. If the absolute value of T d2 is smaller than the set reference value T s, proceed to step A 3, assuming that the tool has not reached the end of its life, and set flag F to “0”. Then, the processing of the cycle ends. On the other hand, if the absolute value of the estimated disturbance load torque Td2 is equal to or larger than the set reference value Ts, the process proceeds to step A4, and is the flag Fka set to "1"? Determine whether or not.
- step A7 it is determined whether or not the timer te is equal to or longer than the set time to, and if the time has not reached the set time t0, the process in the cycle is ended.
- step A7 When it is determined in step A7 that the value of the timer te has exceeded the set time to, in step A8, it is determined that the tool has reached the end of its life in step A8. And outputs a tool change command as a tool life signal, and causes a display device or the like to indicate that the tool has reached the end of its life and that the tool should be changed. Then, at step A9, a machining stop command is output to stop machining.
- the tool change command is output only when the absolute value of the estimated disturbance load torque Td2 is equal to or greater than the reference value Ts for a predetermined time te or more, and instantaneously estimates the disturbance load torque. Even if Td2 exceeds the reference value Ts, the tool change command is not output.
- step A in the tool life detection process shown in FIG.
- step 2 is a process that shifts to step A4 when the absolute value of the estimated disturbance load torque Td2 falls below the set value Ts'.
- the example in which the tool life is detected by the feed shaft of the machine tool has been described.However, the tool life is detected by detecting the load applied to the main shaft by the disturbance estimating kebber. You may do so.
- the spindle since the spindle does not normally perform the position control, the feedback control of the position in FIG. 1 is eliminated, and the element 1 is eliminated. The difference is that the speed command is directly input to element 2.
- the processing is the same as that shown in FIG. 1, and the disturbance estimation observer 6 does not change at all.
- element 12 changes to a digital circuit that controls the spindle
- element 13 changes the servo amplifier to the spindle amplifier
- the motor changes to the spindle motor. It is.
- whether or not a tool has reached the end of its life is determined based on the magnitude of the estimated load applied to the tool. Therefore, it is possible to objectively and accurately determine the tool life and the timing of tool replacement. And can be done.
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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)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019940703716A KR950701262A (ko) | 1993-03-17 | 1994-03-02 | 외란부하(外亂負荷)추정에 의한 공구수명 관리방법 |
EP94908484A EP0649704A4 (en) | 1993-03-17 | 1994-03-02 | TOOL LIFE MANAGEMENT BY ESTIMATING A FAULT. |
US08/335,879 US5602347A (en) | 1993-03-17 | 1994-03-02 | Tool life control method based on disturbance load torque of motor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5/81204 | 1993-03-17 | ||
JP5081204A JPH06262492A (ja) | 1993-03-17 | 1993-03-17 | 外乱負荷推定による工具の寿命管理方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1994021425A1 true WO1994021425A1 (en) | 1994-09-29 |
Family
ID=13739960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/000336 WO1994021425A1 (en) | 1993-03-17 | 1994-03-02 | Tool life management method by estimation of disturbance load |
Country Status (5)
Country | Link |
---|---|
US (1) | US5602347A (ja) |
EP (1) | EP0649704A4 (ja) |
JP (1) | JPH06262492A (ja) |
KR (1) | KR950701262A (ja) |
WO (1) | WO1994021425A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH07182768A (ja) * | 1993-12-22 | 1995-07-21 | Canon Inc | 記録装置 |
JPH0866893A (ja) * | 1994-08-24 | 1996-03-12 | Fanuc Ltd | 衝突検出方法 |
JP3655378B2 (ja) * | 1995-11-28 | 2005-06-02 | ファナック株式会社 | サーボモータの外乱負荷推定方法 |
US6021360A (en) * | 1997-11-04 | 2000-02-01 | International Business Machines Corporation | Process controller for balancing usage of tool sets |
JP3212571B2 (ja) | 1999-03-26 | 2001-09-25 | ファナック株式会社 | 産業用ロボット |
DE10022614A1 (de) * | 2000-05-09 | 2001-12-06 | Bosch Gmbh Robert | Verfahren zum Überwachen und Steuern eines Verstellantriebs beweglicher Teile |
US7010386B2 (en) * | 2002-03-22 | 2006-03-07 | Mcdonnell Ryan P | Tool wear monitoring system |
KR100712558B1 (ko) * | 2006-07-05 | 2007-04-27 | 삼성전자주식회사 | 외란 보상 판단 장치 및 방법과 이를 이용한 디스크드라이브 |
JP5882919B2 (ja) * | 2011-02-10 | 2016-03-09 | 株式会社マキタ | モータに関連する状態量を推定する装置および電動工具 |
US8710777B2 (en) | 2012-04-20 | 2014-04-29 | Linestream Technologies | Method for automatically estimating inertia in a mechanical system |
JP5652444B2 (ja) * | 2012-08-31 | 2015-01-14 | 横河電機株式会社 | 保守支援システム及び方法 |
USD732260S1 (en) * | 2013-12-23 | 2015-06-16 | Andrea L. Wiley | Shopping cart attachment |
US10061275B2 (en) | 2014-07-29 | 2018-08-28 | Linestream Technologies | Optimized parameterization of active disturbance rejection control |
US10126202B2 (en) | 2015-09-11 | 2018-11-13 | Linestream Technologies | Method for automatically estimating inertia, coulomb friction, and viscous friction in a mechanical system |
TWM554386U (zh) * | 2016-02-03 | 2018-01-21 | 米沃奇電子工具公司 | 電動工具及電動工具通訊系統 |
TWI610738B (zh) | 2016-08-19 | 2018-01-11 | 財團法人工業技術研究院 | 工具機刀具管理系統與方法 |
JP6753247B2 (ja) | 2016-09-27 | 2020-09-09 | オムロン株式会社 | 制御装置、制御プログラムおよび制御方法 |
JP6392843B2 (ja) * | 2016-12-28 | 2018-09-19 | ファナック株式会社 | 工作機械、生産管理システム及び工具の寿命を予測・検出する方法 |
DE102017116869A1 (de) * | 2017-07-26 | 2019-01-31 | Chiron-Werke Gmbh & Co. Kg | Vorrichtung zum Ermitteln von hochbelasteten Positionen bei einer Werkzeugmaschine |
TWI650625B (zh) | 2017-11-16 | 2019-02-11 | 財團法人工業技術研究院 | 刀具磨耗檢測裝置、其檢測方法及刀具磨耗補償方法 |
JP2020108255A (ja) * | 2018-12-27 | 2020-07-09 | 富士電機株式会社 | サーボアンプ及びサーボシステム |
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JPS555252A (en) * | 1978-06-28 | 1980-01-16 | Toyota Motor Corp | Method of detecting fault of tool in machine tool |
JPH03110606A (ja) * | 1989-09-25 | 1991-05-10 | Seiko Instr Inc | サーボ制御装置 |
JPH03103147U (ja) * | 1990-02-06 | 1991-10-25 | ||
JPH05116094A (ja) * | 1991-10-29 | 1993-05-14 | Fanuc Ltd | 異常負荷検出方法 |
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US3667290A (en) * | 1970-08-06 | 1972-06-06 | Cincinnati Milacron Inc | Method and apparatus for estimating the force generated by a motor as a function of an external load imposed thereon |
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US4564911A (en) * | 1983-04-25 | 1986-01-14 | Eaton Corporation | Method of monitoring a cutting tool by recognizing a sensed deviation in a mathematically smoothed function of force |
US4802095A (en) * | 1986-12-24 | 1989-01-31 | The Boeing Company | Method for indicating end mill wear |
JPS63314606A (ja) * | 1987-06-18 | 1988-12-22 | Fanuc Ltd | 多関節ロボットの制御装置 |
US4854161A (en) * | 1988-06-28 | 1989-08-08 | Innovex Inc. | Method for diagnosing cutting tool dullness |
JPH02106254A (ja) * | 1988-10-14 | 1990-04-18 | Sumitomo Electric Ind Ltd | 工具摩耗検出法 |
JP2569152B2 (ja) * | 1988-10-17 | 1997-01-08 | ファナック株式会社 | サーボ制御方法 |
JPH03103147A (ja) * | 1989-09-18 | 1991-04-30 | Kunishige Satou | おこわの製造法 |
US5304906A (en) * | 1989-12-26 | 1994-04-19 | Fanuc Ltd. | Collision detecting method using an observer |
-
1993
- 1993-03-17 JP JP5081204A patent/JPH06262492A/ja active Pending
-
1994
- 1994-03-02 KR KR1019940703716A patent/KR950701262A/ko not_active Application Discontinuation
- 1994-03-02 WO PCT/JP1994/000336 patent/WO1994021425A1/ja not_active Application Discontinuation
- 1994-03-02 EP EP94908484A patent/EP0649704A4/en not_active Withdrawn
- 1994-03-02 US US08/335,879 patent/US5602347A/en not_active Expired - Lifetime
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JPS555252A (en) * | 1978-06-28 | 1980-01-16 | Toyota Motor Corp | Method of detecting fault of tool in machine tool |
JPH03110606A (ja) * | 1989-09-25 | 1991-05-10 | Seiko Instr Inc | サーボ制御装置 |
JPH03103147U (ja) * | 1990-02-06 | 1991-10-25 | ||
JPH05116094A (ja) * | 1991-10-29 | 1993-05-14 | Fanuc Ltd | 異常負荷検出方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0649704A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP0649704A4 (en) | 1996-02-21 |
JPH06262492A (ja) | 1994-09-20 |
EP0649704A1 (en) | 1995-04-26 |
US5602347A (en) | 1997-02-11 |
KR950701262A (ko) | 1995-03-23 |
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