WO2020155228A1 - 一种对冷却系统扰动不敏感的主轴热误差补偿方法 - Google Patents

一种对冷却系统扰动不敏感的主轴热误差补偿方法 Download PDF

Info

Publication number
WO2020155228A1
WO2020155228A1 PCT/CN2019/075712 CN2019075712W WO2020155228A1 WO 2020155228 A1 WO2020155228 A1 WO 2020155228A1 CN 2019075712 W CN2019075712 W CN 2019075712W WO 2020155228 A1 WO2020155228 A1 WO 2020155228A1
Authority
WO
WIPO (PCT)
Prior art keywords
spindle
thermal error
temperature
temperature sensor
model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/075712
Other languages
English (en)
French (fr)
Inventor
刘阔
秦波
李旭
甘涌泉
韩伟
黄任杰
王永青
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian University of Technology
Original Assignee
Dalian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian University of Technology filed Critical Dalian University of Technology
Priority to US16/636,556 priority Critical patent/US11294353B2/en
Publication of WO2020155228A1 publication Critical patent/WO2020155228A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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—Program-control systems
    • G05B19/02—Program-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 program data in numerical form
    • G05B19/4155—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 program data in numerical form characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program
    • 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—Program-control systems
    • G05B19/02—Program-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 program 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 program 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49219—Compensation temperature, thermal displacement

Definitions

  • the invention belongs to the technical field of error compensation for numerical control machine tools, and specifically relates to a method for compensating thermal errors of a spindle that is not sensitive to the disturbance of a cooling system.
  • Thermal error prevention methods such as the use of heat insulation materials, thermally symmetrical structure design, and selection of moving parts with small friction coefficients. These methods are expensive.
  • the thermal error compensation method by establishing a thermal error prediction model, predicts the thermal error during the operation of the machine tool to compensate. This method is relatively low cost and convenient in real time, but the difficulty lies in the prediction accuracy and robustness of the model.
  • Thermal error compensation is also divided into two methods: (1) Sensorless method, that is, no external temperature sensor is required, and thermal error prediction is only performed by reading information such as the speed and position in the numerical control system; (2) With sensor method, It is necessary to arrange temperature sensors at key locations and predict thermal errors based on information such as temperature.
  • the sensorless method for thermal error compensation is low in cost, it has poor prediction robustness and requires high stability in working conditions.
  • the current thermal error compensation methods with sensors are highly robust to speed changes, etc., the compensation effect will be worse when encountering large disturbances (such as the start and stop of the cooling system).
  • the present invention addresses the problem that the existing spindle thermal error compensation method is not robust to cold and heat disturbances, and provides a spindle thermal error compensation method that is insensitive to the cooling system disturbance, so that the compensation accuracy of the spindle thermal error is higher and robust It is more flexible and more suitable for the actual processing environment.
  • a method for compensating the thermal error of the spindle that is not sensitive to the disturbance of the cooling system the steps are as follows:
  • the first step is the identification test of the thermal error model coefficient of the spindle
  • the fourth temperature sensor 7 are respectively arranged at the positions of the rear bearing 2 and the front bearing 6; the second temperature sensor 4 and the third temperature sensor 5 Evenly distributed between the rear bearing 2 and the front bearing 6, where the second temperature sensor 4 is close to the rear bearing 2, and the third temperature sensor 5 is close to the front bearing 6; the inspection bar 8 is mounted on the spindle through the tool holder interface; the displacement sensor 9
  • the fifth temperature sensor 12 is arranged on the bed 11 by the magnetic table base;
  • the spindle runs in an arbitrary variable speed mode.
  • the operation process includes multiple states such as speed increase, speed decrease, start and stop; during this process, the first temperature sensor 3, the second temperature sensor 4, the third temperature sensor 5, and the Four measured values of the temperature sensor 7, the fifth temperature sensor 12 and the displacement sensor 9;
  • the second step is to determine the temperature measurement point of the spindle
  • the correlation analysis between the collected temperature data of each position and the thermal error of the spindle is done.
  • the correlation coefficient between the temperature of each point and the thermal error of the spindle is calculated as follows:
  • T j (i) is the temperature value measured by the j-th temperature sensor at time i
  • E z (i) is the displacement sensor 9 measured at time i
  • the thermal error value of the spindle m is the number of data measured by the displacement sensor 9;
  • the spindle temperature measurement point the one with the largest correlation coefficient with the thermal error of the spindle is determined as the spindle temperature measurement point, and the temperature measurement value is the spindle temperature T sp ;
  • the third step is to establish the thermal error model of the spindle
  • T sp-e (i) (T sp (i)-T sp (1))-(T e (i)-T e (1)) (2)
  • T sp-e (i) is the difference between T sp and T e at time i
  • T sp (i) is the measured value of the spindle temperature measurement point at time i
  • T e (i) is the fifth temperature sensor 12 The measured value at time i;
  • the spindle thermal error model is as follows:
  • E ez (i) is the calculated value of the spindle thermal error at time i, and ⁇ 1 , ⁇ 2 and ⁇ 3 are coefficients;
  • ⁇ 1min, ⁇ 2min and ⁇ 3min are coefficients ⁇ 1
  • the constraint limit ⁇ 2 and ⁇ 3 of, ⁇ 1max, ⁇ 2max and ⁇ 3max are coefficients [theta] conditions to a cap 1, ⁇ 2 and ⁇ 3 of ;
  • the fifth step based on OPC UA thermal error compensation
  • the thermal error model of the spindle runs in the compensator, and the compensator sends the compensation value calculated by the model to the numerical control system based on the OPC UA communication protocol, and the numerical control system realizes the compensation of the thermal error of the spindle according to the compensation value.
  • the spindle thermal error model coefficient identification test of the present invention adopts multi-state variable speed, which can obtain richer spindle thermal characteristic information and is closer to actual working conditions; the model has high prediction accuracy and strong robustness, especially It can still maintain a good compensation effect in the case of frequent startup of the cooling system and other disturbances.
  • Compensation for the thermal error of the spindle can improve the machining accuracy and accuracy stability of the machine tool; eliminate the need for the heat engine process after the machine is turned on, reduce energy waste, and improve processing efficiency; the ambient temperature is introduced into the thermal error model, even in non-constant temperature workshops It can ensure a good compensation effect, so that precision processing no longer needs a constant temperature workshop, saving construction costs.
  • Figure 1 is a schematic diagram of the spindle temperature measurement point layout and thermal error test.
  • Figure 2 is a flow chart of spindle thermal error compensation.
  • Figure 3(a) shows the thermal error curve of the spindle before compensation.
  • Figure 3(b) shows the thermal error curve of the spindle after compensation.
  • the maximum spindle speed of the machining center is 12000r/min.
  • the main shaft is equipped with a water cooling device.
  • the first step is the parameter identification test of the thermal error model of the spindle
  • the fourth temperature sensor 7 are respectively arranged at the positions of the rear bearing 2 and the front bearing 6; the second temperature sensor 4 and the third temperature sensor 5 Evenly distributed between the rear bearing 2 and the front bearing 6, where the second temperature sensor 4 is close to the rear bearing 2, and the third temperature sensor 5 is close to the front bearing 6; the inspection bar 8 is mounted on the spindle through the tool holder interface; the displacement sensor 9
  • the fifth temperature sensor 12 is arranged on the bed 11 by the magnetic table base;
  • the measurement values of the first temperature sensor 3, the second temperature sensor 4, the third temperature sensor 5, the fourth temperature sensor 7, the fifth temperature sensor 12 and the displacement sensor 9 are simultaneously recorded during the operation of the spindle.
  • the correlation analysis between the collected temperature data of each position and the thermal error of the spindle is done.
  • the correlation coefficient between the temperature of each point and the thermal error of the spindle is calculated as follows:
  • T j (i) is the temperature value measured by the j-th temperature sensor at time i
  • E z (i) is the displacement sensor 9 measured at time i
  • m is the number of data measured by the displacement sensor 9.
  • the second temperature sensor 4 with the largest thermal error correlation coefficient is selected as the spindle temperature measurement point, and its temperature measurement value is set as the spindle temperature T sp .
  • the third step is to establish the thermal error model of the spindle
  • T sp-e (i) is the difference between T sp and T e at time i
  • T sp (i) is the measured value of the spindle temperature measurement point at time i
  • T e (i) is the fifth temperature sensor 12 The measured value at time i.
  • ⁇ T sp-e (i) is the amount of change of T sp-e at time i.
  • E ez (i) is the calculated value of the spindle thermal error at time i
  • ⁇ 1 , ⁇ 2 and ⁇ 3 are coefficients.
  • the coefficients ⁇ 1 , ⁇ 2 and ⁇ 3 in the above thermal error model are identified under restricted conditions.
  • the objective function F( ⁇ 1 , ⁇ 2 , ⁇ 3 ) is shown in the following formula.
  • ⁇ 1min, ⁇ 2min and ⁇ 3min are coefficients ⁇ 1
  • ⁇ 1max, ⁇ 2max and ⁇ 3max are coefficients [theta] conditions to a cap 1, ⁇ 2 and ⁇ 3 of .
  • the thermal error model of the spindle is established.
  • the fifth step based on OPC UA thermal error compensation
  • the spindle thermal error model runs in the compensator, and the compensator sends the compensation value calculated by the model to the numerical control system based on the OPC UA communication protocol.
  • the numerical control system realizes the compensation of the thermal error of the spindle according to the compensation value.
  • the compensation process is shown in Figure 2.
  • Figure 3 (a) and Figure 3 (b) are the comparison results before and after the thermal error compensation of the vertical machining center spindle obtained according to the above steps.
  • Figure 3(a) is the thermal error curve of the spindle before compensation
  • Figure 3(b) is the thermal error curve of the spindle after compensation.

Landscapes

  • Engineering & Computer Science (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)

Abstract

一种对冷却系统扰动不敏感的主轴热误差补偿方法。首先，进行基于多状态变转速的主轴模型系数辨识试验；之后，基于温度与热误差的相关性分析，确定与主轴轴向热误差关联度显著的温度测点；接着，建立对冷却系统扰动不敏感的主轴热误差模型，并基于非线性二次规划算法对模型中的系数进行有约束条件下的辨识；最后，基于OPC UA通讯协议将模型计算出的补偿值写入到数控系统中，实现主轴热误差的补偿。该方法的优点为，模型预测精度高且鲁棒性强，尤其在冷却系统频繁启动等扰动情况下仍能保持良好的补偿效果。

Description

一种对冷却系统扰动不敏感的主轴热误差补偿方法 技术领域
本发明属于数控机床误差补偿技术领域，具体为一种对冷却系统扰动不敏感的主轴热误差补偿方法。
背景技术
在机床运行过程中，机床内部的诸多热源(如轴承和电机等)都会产生热量。这些热量传递到机床的各个部件上就会引起机床的热变形，从而产生热误差。这不仅影响单个工件的加工精度，还影响批量加工的精度一致性。在精密加工中，机床热误差已经成为影响加工精度的主要因素。为了减小热误差对加工精度的影响，机床开机后先要进行一定时间的空运转热机，这样不仅浪费能源，还降低了加工效率。
目前减小机床热误差的方法主要有两种：(1)热误差防止法，如采用隔热材料，热对称结构设计，选择摩擦系数小的运动部件等。这些方法成本较高。(2)热误差补偿法，通过建立热误差预测模型，对机床运行过程中的热误差进行预测，从而进行补偿。这种方法相对成本低，实时方便，但是难点在于模型的预测精度与鲁棒性。
热误差补偿也分为两种方式：(1)无传感器方式，即不需要外置温度传感器，仅通过读取数控系统中的转速、位置等信息进行热误差预测；(2)有传感器方式，需要在关键位置布置温度传感器，基于温度等信息进行热误差预测。
采用无传感器方式进行热误差补偿虽然成本低，但预测鲁棒性差，对工况稳定性要求高。另外，虽然目前有传感器的热误差补偿方式对转速变化等的鲁棒性较高，但在遇到较大扰动(如冷却系统启停)等情况下，补偿效果就会变差。
发明内容
本发明针对现有主轴热误差补偿方法对冷热扰动鲁棒性不强的问题，提供一种对冷却系统扰动不敏感的主轴热误差补偿方法，使主轴热误差的补偿精度更高、鲁棒性更强，更适于实际加工环境。
本发明的技术方案：
一种对冷却系统扰动不敏感的主轴热误差补偿方法，步骤如下：
首先，进行基于多状态变转速的主轴模型系数辨识试验；之后，基于温度与热误差的相关性分析，确定与主轴轴向热误差关联度显著的温度测点；接着，建立对冷却系统扰动不敏感的主轴热误差模型，并基于非线性二次规划算法对模型中的系数进行有约束条件下的辨识；最后，基于OPC UA通讯协议将模型计算出的补偿值写入到数控系统中，实现主轴热误差的补偿；具体步骤如下：
第一步，主轴热误差模型系数辨识试验
将四个温度传感器布置在主轴1的表面，具体位置为：第一温度传感器3和第四温度传感器7分别布置在后轴承2和前轴承6位置；第二温度传感器4和第三温度传感器5均匀分布在后轴承2和前轴承6之间，其中第二温度传感器4靠近后轴承2，第三温度传感器5靠近前轴承6；检棒8通过刀柄接口装卡在主轴上；位移传感器9通过磁力表座固定在工作台10上；第五温度传感器12布置在床身11上；
主轴以任意的变转速方式运行，运行过程包含转速上升、转速下降以及启停等多个状态；在此过程中同步记录第一温度传感器3、第二温度传感器4、第三温度传感器5、第四温度传感器7、第五温度传感器12和位移传感器9的测量值；
第二步，主轴温度测点确定
对采集的各位置温度数据与主轴热误差做相关性分析，各点温度与主轴热误差的相关系数按如下计算：
Figure PCTCN2019075712-appb-000001
式中：
Figure PCTCN2019075712-appb-000002
为第j个温度传感器测量值与主轴热误差的相关系数，T j(i)为第j个温度传感器在时刻i测得的温度值，E z(i)为位移传感器9在时刻i测得的主轴热误差值，m为位移传感器9测量的数据数量；
在主轴上的四个温度传感器中，确定与主轴热误差相关系数最大的作为主轴温度测点，设其温度测量值为主轴温度T sp；
第三步，主轴热误差模型建立
设第五温度传感器12测得的温度值为T e，主轴温度与其差值T sp-e的计算公式如下：
T sp-e(i)＝(T sp(i)-T sp(1))-(T e(i)-T e(1))  (2)
式中，T sp-e(i)为T sp与T e在时刻i的差值，T sp(i)为主轴温度测点在时刻i的测量值，T e(i)为第五温度传感器12在时刻i的测量值；
T sp-e的变化量△T sp-e计算公式如下：
ΔT sp-e(i)＝T sp-e(i)-T sp-e(i-1)  (3)
式中，ΔT sp-e(i)为T sp-e在时刻i的变化量；
主轴热误差模型如下：
Figure PCTCN2019075712-appb-000003
式中，E ez(i)为在时刻i主轴热误差计算值，θ 1、θ 2和θ 3为系数；
第四步，模型系数辨识
基于非线性二次规划算法对上述热误差模型中的系数θ 1、θ 2和θ 3进行有约束条件下的辨识，目标函数F(θ 1,θ 2,θ 3)如下式所示：
Figure PCTCN2019075712-appb-000004
式中，θ 1min、θ 2min和θ 3min分别为系数θ 1、θ 2和θ 3的约束条件下限，θ 1max、θ 2max和θ 3max分别为系数θ 1、θ 2和θ 3的约束条件上限；
第五步，基于OPC UA的热误差补偿
主轴热误差模型在补偿器中运行，补偿器基于OPC UA通讯协议将模型计算出的补偿值发送给数控系统，数控系统根据该补偿值实现主轴热误差的补偿。
本发明的有益效果：本发明的主轴热误差模型系数辨识试验采用多状态变转速，可获取更丰富的主轴热特性信息，更贴近实际工况；该模型预测精度高且鲁棒性强，尤其在冷却系统频繁启动等扰动情况下仍能保持良好的补偿效果。对主轴热误差进行补偿，可提高机床加工精度及精度稳定性；省去机床开机后的热机过程，减少能源浪费，并提高加工效率；将环境温度引入到热误差模型中，在非恒温车间也能保证很好的补偿效果，使得精密加工不再需要恒温车间，节约建设成本。
附图说明
图1为主轴温度测点布置及热误差测试示意图。
图2为主轴热误差补偿流程图。
图3(a)为补偿前的主轴热误差曲线。
图3(b)为补偿后的主轴热误差曲线。
图中：1主轴；2主轴后轴承；3第一温度传感器；4第二温度传感器；5第三温度传感器；6主轴后轴承；7第四温度传感器；8检棒；9位移传感器；10工作台；11床身；12第五温度传感器。
具体实施方式
为了使本发明的目的、技术方案和优点更加清晰明了，下面结合附图对本发明作详细说明。
以某型立式加工中心主轴为例，详细说明本发明的实施方式。该加工中心主轴最高转速12000r/min。主轴带有水冷装置。
第一步，主轴热误差模型参数辨识试验
将四个温度传感器布置在主轴1的表面，具体位置为：第一温度传感器3和第四温度传感器7分别布置在后轴承2和前轴承6位置；第二温度传感器4和第三温度传感器5均匀分布在后轴承2和前轴承6之间，其中第二温度传感器4靠近后轴承2，第三温度传感器5靠近前轴承6；检棒8通过刀柄接口装卡在主轴上；位移传感器9通过磁力表座固定在工作台10上；第五温度传感器12布置在床身11上；
让主轴按下表所示顺序运行：
表1主轴运行顺序表
Figure PCTCN2019075712-appb-000005
Figure PCTCN2019075712-appb-000006
在主轴运行过程中同步记录第一温度传感器3、第二温度传感器4、第三温度传感器5、第四温度传感器7、第五温度传感器12和位移传感器9的测量值。
第二步，主轴温度测点确定
对采集的各位置温度数据与主轴热误差做相关性分析，各点温度与主轴热误差的相关系数按如下计算：
Figure PCTCN2019075712-appb-000007
式中
Figure PCTCN2019075712-appb-000008
为第j个温度传感器测量值与主轴热误差的相关系数，T j(i)为第j个温度传感器在时刻i测得的温度值，E z(i)为位移传感器9在时刻i测得的主轴热误差值，m为位移传感器9测量的数据数量。
按式(1)分别计算温度传感器3、4、6和7的测量值与位移传感器9的测量值之间的相关系数。具体结果如下表所示。
表2主轴各温度与热误差的相关系数
Figure PCTCN2019075712-appb-000009
Figure PCTCN2019075712-appb-000010
选择与热误差相关系数最大的第二温度传感器4作为主轴温度测点，设其温度测量值为主轴温度T sp。
第三步，主轴热误差模型建立
设第五温度传感器12测得的温度值为T e，主轴温度与其差值T sp-e的计算公式如下：
T sp-e(i)＝(T sp(i)-T sp(1))-(T e(i)-T e(1))  (2)
式中，T sp-e(i)为T sp与T e在时刻i的差值，T sp(i)为主轴温度测点在时刻i的测量值，T e(i)为第五温度传感器12在时刻i的测量值。
T sp-e的变化量△T sp-e计算公式如下：
ΔT sp-e(i)＝T sp-e(i)-T sp-e(i-1)  (3)
式中，ΔT sp-e(i)为T sp-e在时刻i的变化量。
主轴热误差模型公式如下：
Figure PCTCN2019075712-appb-000011
式中，E ez(i)为在时刻i主轴热误差计算值，θ 1、θ 2和θ 3为系数。
第四步，模型系数辨识
基于非线性二次规划算法对上述热误差模型中的系数θ 1、θ 2和θ 3进行有约束条件下的辨识，目标函数F(θ 1,θ 2,θ 3)如下式所示。
Figure PCTCN2019075712-appb-000012
式中，θ 1min、θ 2min和θ 3min分别为系数θ 1、θ 2和θ 3的约束条件下限，θ 1max、θ 2max 和θ 3max分别为系数θ 1、θ 2和θ 3的约束条件上限。
根据式(2)～(4)建立主轴热误差模型。根据式(5)对模型中的参数进行辨识，辨识结果为：θ 1＝7.5×10 -5，θ 2＝9.8×10 -3，θ 3＝408.1μm/℃。
第五步，基于OPC UA的热误差补偿
主轴热误差模型在补偿器中运行，补偿器基于OPC UA通讯协议将模型计算出的补偿值发送给数控系统。数控系统根据该补偿值实现主轴热误差的补偿。补偿流程如图2所示。
图3(a)和图3(b)为按上述步骤得到的立式加工中心主轴热误差补偿前后的对比结果。其中图3(a)为补偿前主轴热误差曲线，图3(b)为补偿后主轴热误差曲线。

Claims (1)

  1. 一种对冷却系统扰动不敏感的主轴热误差补偿方法，首先，进行基于多状态变转速的主轴模型系数辨识试验；之后，基于温度与热误差的相关性分析，确定与主轴轴向热误差关联度显著的温度测点；接着，建立对冷却系统扰动不敏感的主轴热误差模型，并基于非线性二次规划算法对模型中的系数进行有约束条件下的辨识；最后，基于OPC UA通讯协议将模型计算出的补偿值写入到数控系统中，实现主轴热误差的补偿；其特征在于，步骤如下：
    第一步，主轴热误差模型系数辨识试验
    将四个温度传感器布置在主轴(1)的表面，具体位置为：第一温度传感器(3)和第四温度传感器(7)分别布置在后轴承(2)和前轴承(6)位置；第二温度传感器(4)和第三温度传感器(5)均匀分布在后轴承(2)和前轴承(6)之间，其中第二温度传感器(4)靠近后轴承(2)，第三温度传感器(5)靠近前轴承(6)；检棒(8)通过刀柄接口装卡在主轴上；位移传感器(9)通过磁力表座固定在工作台(10)上；第五温度传感器(12)布置在床身(11)上；
    主轴以任意的变转速方式运行，运行过程包含转速上升、转速下降以及启停等多个状态；在此过程中同步记录第一温度传感器(3)、第二温度传感器(4)、第三温度传感器(5)、第四温度传感器(7)、第五温度传感器(12)和位移传感器(9)的测量值；
    第二步，主轴温度测点确定
    对采集的各位置温度数据与主轴热误差做相关性分析，各点温度与主轴热误差的相关系数按如下计算：
    Figure PCTCN2019075712-appb-100001
    式中：
    Figure PCTCN2019075712-appb-100002
    为第j个温度传感器测量值与主轴热误差的相关系数，T j(i)为第j个温度传感器在时刻i测得的温度值，E z(i)为位移传感器(9)在时刻i测得的主轴热误差值，m为位移传感器(9)测量的数据数量；
    在主轴上的四个温度传感器中，确定与主轴热误差相关系数最大的作为主轴温度测点，设其温度测量值为主轴温度T sp；
    第三步，主轴热误差模型建立
    设第五温度传感器(12)测得的温度值为T e，主轴温度与其差值T sp-e的计算公式如下：
    T sp-e(i)＝(T sp(i)-T sp(1))-(T e(i)-T e(1))  (2)
    式中，T sp-e(i)为T sp与T e在时刻i的差值，T sp(i)为主轴温度测点在时刻i的测量值，T e(i)为第五温度传感器(12)在时刻i的测量值；
    T sp-e的变化量△T sp-e计算公式如下：
    ΔT sp-e(i)＝T sp-e(i)-T sp-e(i-1)  (3)
    式中，ΔT sp-e(i)为T sp-e在时刻i的变化量；
    主轴热误差模型如下：
    Figure PCTCN2019075712-appb-100003
    式中，E ez(i)为在时刻i主轴热误差计算值，θ 1、θ 2和θ 3为系数；
    第四步，模型系数辨识
    基于非线性二次规划算法对上述热误差模型中的系数θ 1、θ 2和θ 3进行有约束 条件下的辨识，目标函数F(θ 1,θ 2,θ 3)如下式所示：
    Figure PCTCN2019075712-appb-100004
    式中，θ 1min、θ 2min和θ 3min分别为系数θ 1、θ 2和θ 3的约束条件下限，θ 1max、θ 2max和θ 3max分别为系数θ 1、θ 2和θ 3的约束条件上限；
    第五步，基于OPC UA的热误差补偿
    主轴热误差模型在补偿器中运行，补偿器基于OPC UA通讯协议将模型计算出的补偿值发送给数控系统，数控系统根据该补偿值实现主轴热误差的补偿。
PCT/CN2019/075712 2019-01-31 2019-02-21 一种对冷却系统扰动不敏感的主轴热误差补偿方法 Ceased WO2020155228A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/636,556 US11294353B2 (en) 2019-01-31 2019-02-21 Spindle thermal error compensation method insensitive to cooling system disturbance

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910099608.7 2019-01-31
CN201910099608.7A CN109739182B (zh) 2019-01-31 2019-01-31 一种对冷却系统扰动不敏感的主轴热误差补偿方法

Publications (1)

Publication Number Publication Date
WO2020155228A1 true WO2020155228A1 (zh) 2020-08-06

Family

ID=66367122

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/075712 Ceased WO2020155228A1 (zh) 2019-01-31 2019-02-21 一种对冷却系统扰动不敏感的主轴热误差补偿方法

Country Status (3)

Country Link
US (1) US11294353B2 (zh)
CN (1) CN109739182B (zh)
WO (1) WO2020155228A1 (zh)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112147951A (zh) * 2020-09-28 2020-12-29 沈机（上海）智能系统研发设计有限公司 机加工设备热误差补偿方法及其装置、系统、介质、终端
CN114800516A (zh) * 2022-05-13 2022-07-29 珞石（北京）科技有限公司 一种针对热误差的机器人运动补偿方法
CN114895627A (zh) * 2022-05-31 2022-08-12 安徽工业大学 一种分区域机床热误差补偿方法
CN114896771A (zh) * 2022-04-27 2022-08-12 重庆大学 一种考虑热迟滞的数控机床主轴热误差分段建模方法
CN114967592A (zh) * 2022-05-31 2022-08-30 安徽工业大学 一种机床热误差温度敏感点的自适应选择方法
CN117681037A (zh) * 2024-01-26 2024-03-12 江西佳时特精密机械有限责任公司 基于位移传感器的高精度主轴热伸长闭环补偿方法
CN119036193A (zh) * 2024-10-31 2024-11-29 天津东疆恒昌机械设备有限公司 基于逆五点法的热致空间位姿误差测试装置及测试方法

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109623499B (zh) * 2019-01-31 2020-08-25 大连理工大学 数控机床几何/热误差在线测量与补偿系统
CN114019903B (zh) * 2021-11-03 2023-05-12 大连理工大学 一种数控机床主轴精度自愈方法
CN114488945B (zh) * 2022-01-06 2023-11-14 华中科技大学 环境温度影响下立式机床z轴热误差建模方法及系统
CN115329516A (zh) * 2022-04-07 2022-11-11 上海理工大学 基于边界拓扑的热边界条件辨识方法
CN115793566A (zh) * 2022-11-17 2023-03-14 广东中聪智能装备有限公司 机床冷启动电主轴加工的自动补偿方法
CN116460321B (zh) * 2023-04-12 2024-02-09 阿帕斯数控机床制造(上海)有限公司 数控机床主轴伸长量的补偿方法、装置以及数控机床
CN116540629A (zh) * 2023-05-05 2023-08-04 大连理工大学 基于opcua协议通讯的机床外置式综合热误差补偿方法
CN116954154B (zh) * 2023-06-01 2026-02-06 浙江大学 虚实样机孪生特征迁移的数控机床主轴热误差预测方法
CN116700142B (zh) * 2023-06-25 2026-02-27 华中科技大学 一种机床进给系统用于参数辨识的激励信号的设计方法
CN119781376B (zh) * 2024-12-28 2025-10-24 广东汉明石阁机床有限公司 一种利用数据驱动的数控机床温度补偿方法及系统
CN119937460B (zh) * 2025-04-09 2025-06-03 宜宾四川大学产业技术研究院 一种考虑动态冷却效应的数控机床主轴热误差建模方法
CN120630874B (zh) * 2025-07-22 2025-11-18 咸阳职业技术学院 一种基于单温度传感器的纵切自动车床热误差建模方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TW201037268A (en) * 2009-04-06 2010-10-16 Carmar Technology Co Ltd Error compensation method for thermal deformation of coordinate measuring machine
US8255075B2 (en) * 2008-12-11 2012-08-28 Industrial Technology Research Institute Thermal error compensation method for machine tools
CN106444628A (zh) * 2016-09-28 2017-02-22 大连理工大学 一种数控机床主轴热伸长误差实时补偿方法
CN107918357A (zh) * 2017-12-21 2018-04-17 科德数控股份有限公司 一种数控加工中心主轴热误差动态补偿方法及系统

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3792266B2 (ja) * 1994-06-16 2006-07-05 森精機興産株式会社 工作機械の熱変位補正方法及びその装置
JP3154946B2 (ja) * 1996-11-11 2001-04-09 ファナック株式会社 工作機械の熱変位補正方法
KR100264247B1 (ko) * 1998-03-28 2000-08-16 김영삼 공작기계의 열변형오차 측정 및 보정시스템
JP3405965B2 (ja) * 2000-07-06 2003-05-12 ファナック株式会社 工作機械の熱変位補正方法
JP4891104B2 (ja) * 2007-01-29 2012-03-07 オークマ株式会社 工作機械の熱変位推定方法
JP2011140098A (ja) * 2010-01-08 2011-07-21 Mitsubishi Heavy Ind Ltd 工作機械の機械変位補正システム
CN102658499B (zh) * 2012-04-20 2014-08-06 西安交通大学 一种精密卧式加工中心主轴热误差补偿方法
JP6280078B2 (ja) * 2015-05-11 2018-02-14 ファナック株式会社 工作機械の熱変位補正訓練装置
CN105759718B (zh) * 2016-03-21 2018-06-29 电子科技大学 数控机床热误差在线补偿方法及系统
CN107861470A (zh) * 2017-10-25 2018-03-30 沈阳机床股份有限公司 基于pmc控制的数控机床主轴热伸长误差实时补偿方法
JP6687650B2 (ja) * 2018-01-31 2020-04-28 ファナック株式会社 熱変位補正装置及び機械学習装置
CN108857574B (zh) * 2018-07-05 2020-01-17 大连理工大学 数控机床主轴的“热误差-温度”环的应用方法
JP7098544B2 (ja) * 2019-01-21 2022-07-11 オークマ株式会社 工作機械の熱変位補正方法及び熱変位補正装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8255075B2 (en) * 2008-12-11 2012-08-28 Industrial Technology Research Institute Thermal error compensation method for machine tools
TW201037268A (en) * 2009-04-06 2010-10-16 Carmar Technology Co Ltd Error compensation method for thermal deformation of coordinate measuring machine
CN106444628A (zh) * 2016-09-28 2017-02-22 大连理工大学 一种数控机床主轴热伸长误差实时补偿方法
CN107918357A (zh) * 2017-12-21 2018-04-17 科德数控股份有限公司 一种数控加工中心主轴热误差动态补偿方法及系统

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112147951A (zh) * 2020-09-28 2020-12-29 沈机（上海）智能系统研发设计有限公司 机加工设备热误差补偿方法及其装置、系统、介质、终端
CN114896771A (zh) * 2022-04-27 2022-08-12 重庆大学 一种考虑热迟滞的数控机床主轴热误差分段建模方法
CN114800516A (zh) * 2022-05-13 2022-07-29 珞石（北京）科技有限公司 一种针对热误差的机器人运动补偿方法
CN114800516B (zh) * 2022-05-13 2024-03-08 珞石（北京）科技有限公司 一种针对热误差的机器人运动补偿方法
CN114895627A (zh) * 2022-05-31 2022-08-12 安徽工业大学 一种分区域机床热误差补偿方法
CN114967592A (zh) * 2022-05-31 2022-08-30 安徽工业大学 一种机床热误差温度敏感点的自适应选择方法
CN117681037A (zh) * 2024-01-26 2024-03-12 江西佳时特精密机械有限责任公司 基于位移传感器的高精度主轴热伸长闭环补偿方法
CN117681037B (zh) * 2024-01-26 2024-04-16 江西佳时特精密机械有限责任公司 基于位移传感器的高精度主轴热伸长闭环补偿方法
CN119036193A (zh) * 2024-10-31 2024-11-29 天津东疆恒昌机械设备有限公司 基于逆五点法的热致空间位姿误差测试装置及测试方法

Also Published As

Publication number Publication date
US20210048793A1 (en) 2021-02-18
CN109739182A (zh) 2019-05-10
CN109739182B (zh) 2020-06-16
US11294353B2 (en) 2022-04-05

Similar Documents

Publication Publication Date Title
CN109739182B (zh) 一种对冷却系统扰动不敏感的主轴热误差补偿方法
CN107942934B (zh) 一种卧式数控车床的主轴径向热漂移误差建模及补偿方法
Liu et al. Robust modeling method for thermal error of CNC machine tools based on ridge regression algorithm
Yang et al. Thermal error mode analysis and robust modeling for error compensation on a CNC turning center
Weck et al. Reduction and compensation of thermal errors in machine tools
WO2019084948A1 (zh) 一种卧式数控车床的主轴径向热漂移误差建模及补偿方法
Du et al. Prediction of product roughness, profile, and roundness using machine learning techniques for a hard turning process
CN109623493B (zh) 一种判定主轴实时热变形姿态的方法
US11009857B2 (en) Application method of the thermal error-temperature loop in the spindle of a CNC machine tool
Ruijun et al. The thermal error optimization models for CNC machine tools
CN105759719B (zh) 一种基于无偏估计拆分模型的数控机床热误差预测方法及系统
CN103034169B (zh) 一种数控机床热误差建模与补偿的方法
CN109656198A (zh) 一种进给轴热误差自适应补偿方法
Shi et al. Thermal error modeling of machine tool based on dimensional error of machined parts in automatic production line
CN106736848A (zh) 数控车床热误差测量补偿系统及补偿方法
CN111459094B (zh) 机床主轴热误差建模中温度敏感点组合的分区域选取方法
Fu et al. Temperature-sensitive point selection for thermal error modeling of machine tool spindle by considering heat source regions
CN107918357A (zh) 一种数控加工中心主轴热误差动态补偿方法及系统
CN113009882A (zh) 一种数控机床热误差自适应补偿方法
Wei et al. Sub-regional thermal error compensation modeling for CNC machine tool worktables
Zhang et al. Prediction model and experimental validation for the thermal deformation of motorized spindle
CN116954154A (zh) 虚实样机孪生特征迁移的数控机床主轴热误差预测方法
Kang et al. Comprehensive compensation method for thermal error of vertical drilling center
CN108803484B (zh) 一种机床开关机时热误差补偿系统的智能处理方法
Wu et al. Exogenous input autoregressive model based on mixed variables for offline prediction thermal errors of CNC Swiss lathes

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19914066

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19914066

Country of ref document: EP

Kind code of ref document: A1