WO2020208893A1 - Dispositif de commande numérique et dispositif d'apprentissage - Google Patents

Dispositif de commande numérique et dispositif d'apprentissage Download PDF

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Publication number
WO2020208893A1
WO2020208893A1 PCT/JP2020/002108 JP2020002108W WO2020208893A1 WO 2020208893 A1 WO2020208893 A1 WO 2020208893A1 JP 2020002108 W JP2020002108 W JP 2020002108W WO 2020208893 A1 WO2020208893 A1 WO 2020208893A1
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Prior art keywords
unit
phase difference
timing signal
spindle
angle
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PCT/JP2020/002108
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English (en)
Japanese (ja)
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遼輔 池田
一樹 高幣
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2020555927A priority Critical patent/JP6987275B2/ja
Priority to DE112020001795.8T priority patent/DE112020001795T5/de
Priority to CN202080025983.8A priority patent/CN113646613A/zh
Publication of WO2020208893A1 publication Critical patent/WO2020208893A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
    • G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines

Definitions

  • the present disclosure relates to a numerical control device for determining the occurrence of chatter vibration in a machine tool, a method for determining the occurrence of chatter vibration, and a learning device.
  • Machine tools that removes the object to be machined into a desired shape by changing the relative position between the object to be machined and the tool.
  • Machine tools such as milling machines and lathes mount tools or objects to be machined on the spindle and rotate the spindle to perform machining.
  • vibration called “chatter vibration” may occur.
  • chatter vibration occurs, the accuracy of the finished surface deteriorates and the tool may be damaged.
  • vibration is measured twice at predetermined time intervals during processing, and the second measurement result has a larger amplitude in the frequency domain and a phase in the frequency domain as compared with the first measurement result.
  • a method for determining that chatter vibration has occurred when the values are different is disclosed.
  • the technique described in Patent Document 1 has a problem that it takes a long time to determine whether or not chatter vibration occurs during processing.
  • frequency analysis such as FFT (Fast Fourier Transform) has a restriction that the frequency resolution ⁇ F is inversely proportional to the data acquisition time T due to its calculation algorithm. Therefore, in order to obtain a frequency resolution ⁇ F sufficient for determining chatter vibration, the data acquisition time becomes long. Further, in the technique described in Patent Document 1, since it is necessary to perform the measurement twice at a predetermined time, the time for measuring the vibration during processing becomes long.
  • the present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a numerical control device capable of shortening the time required for determining chatter vibration.
  • the numerical control device of the present disclosure includes a drive command unit that gives an operation command to the spindle and the feed shaft of the machine tool, and a tool or an object to be machined attached to the machine machine.
  • a sensor signal processing unit that generates multiple types of state quantities based on the sensor signal that detects vibration, and a timing signal generation unit that periodically generates and outputs a timing signal at a timing synchronized with the rotation of the spindle. From the phase difference calculation unit that generates a non-dimensional quantity indicating a plurality of types of state quantities in the state space for each timing signal and calculates the phase difference information indicating the difference between the phases of the non-dimensional quantity, and the phase difference information.
  • It has an information observation unit that creates a data set for inference and an inference unit that has a trained inference model that performs machine learning to determine the presence or absence of chatter vibration by inputting the data set for inference. It is characterized by including a vibration determination unit that determines the occurrence of chatter vibration by inputting a data set for use.
  • the figure for demonstrating the filter characteristic of the filter processing part shown in FIG. The figure which shows the relationship between the timing signal output by the timing signal generation part shown in FIG. 1 and the angle command of a spindle.
  • the figure which shows the dimensionless quantity calculated by the phase difference calculation part shown in FIG. The figure which shows an example of the transition of the phase difference calculated by the phase difference calculation unit shown in FIG. 1 when chatter vibration occurs.
  • the figure which shows the phase difference of the dimensionless quantity obtained from the experimental result shown in FIG. It is an experimental result when chatter vibration does not occur, and is a diagram showing the waveform of acceleration generated during machining.
  • the figure which shows the phase difference of the dimensionless quantity obtained from the experimental result shown in FIG. The figure for demonstrating the 1st example of the process of the vibration determination part shown in FIG.
  • FIG. 1 The figure which shows the structural example for realizing the 3rd example of the processing of the vibration determination part shown in FIG. Diagram showing a configuration example of an inference model using a neural network
  • FIG. 2 The figure which shows the functional structure of the learning apparatus which learns the inference model used by the vibration determination part shown in FIG.
  • FIG. 1 is a diagram showing a functional configuration of the numerical control device 1 according to the first embodiment.
  • the numerical control device 1 numerically controls the machine tool 100 by giving an operation command 208 to the machine tool 100.
  • the machine tool 100 has a spindle 101 and a feed shaft 102 equipped with a motor driven by an operation command 208.
  • the object to be machined is installed on the spindle 101, and the tool is installed on the feed shaft 102.
  • the machine tool 100 outputs operation information 209 including at least the positions, speeds, and motor currents of the spindle 101 and the feed shaft 102 to the numerical control device 1.
  • the number of blades of the tool is one.
  • a sensor 103 is attached to the machine tool 100.
  • the sensor 103 outputs a sensor signal 200 that detects the vibration of the tool or the object to be machined to the numerical control device 1.
  • the sensor 103 is attached to the structure of the spindle 101 or the feed shaft 102 of the machine tool 100.
  • the position where the sensor 103 is attached may be any position where vibration of the tool or the object to be machined can be detected, and is preferably near the point where the tool and the object to be machined come into contact with each other.
  • the type of the sensor 103 may be any sensor capable of detecting the vibration of the tool or the object to be machined, and the sensor 103 is, for example, a displacement sensor, a speed sensor, an acceleration sensor, an angular velocity sensor, or the like.
  • the senor 103 may be a force sensor that detects a cutting reaction force or a microphone that detects a cutting sound during machining.
  • the sensor 103 instead of the sensor 103, at least one of the positions, speeds, and motor currents of the spindle 101 and the feed shaft 102 included in the operation information is used to detect the vibration of the tool or the object to be machined during machining. Then, information indicating the detected vibration may be output as the sensor signal 200.
  • the numerical control device 1 includes a filter processing unit 10, a sensor signal processing unit 11, a phase difference calculation unit 12, a vibration determination unit 13, a command value correction unit 14, a drive command unit 15, and a timing signal generation unit 16. And have.
  • the drive command unit 15 receives the operation information 209 from the machine tool 100, outputs the operation command 208 to the machine tool 100 based on the operation information 209, and outputs the spindle operation command 206 to the timing signal generation unit 16. Further, the drive command unit 15 corrects the operation command 208 based on the correction signal 205 output by the command value correction unit 14 described later.
  • the operation command 208 includes at least one of an angle command and a speed command of the spindle 101 of the machine tool 100, and at least one of a position command and a speed command of the feed shaft 102. Further, the spindle operation command 206 includes at least one of an angle command and a speed command of the spindle 101.
  • the filter processing unit 10 filters the sensor signal 200 output by the machine tool 100 to generate a chatter vibration component signal 201, and outputs the generated chatter vibration component signal 201 to the sensor signal processing unit 11.
  • the filter processing unit 10 removes the cutting component from the sensor signal 200.
  • FIG. 2 is a diagram for explaining the filter characteristics of the filter processing unit 10 shown in FIG.
  • the horizontal axis of FIG. 2 indicates the frequency, and the vertical axis indicates the amplitude.
  • FIG. 2 shows a chatter vibration component, a cutting component, and a filter pass band in the frequency domain.
  • the cutting component is mainly a vibration component having a frequency obtained by multiplying the spindle rotation speed by the number of blades of the tool, and a harmonic component thereof.
  • the filter processing unit 10 removes a band containing each cutting component with a predetermined bandwidth.
  • the predetermined bandwidth can be about several Hz near the cutting component.
  • the filter processing unit 10 can be designed by using a known bandpass filter, notch filter, combination of a plurality of bandpass filters, a combination of a plurality of notch filters, a comb-shaped filter, and the like. By using the pass band filter shown in FIG. 2, the filter processing unit 10 can remove the cutting component from the sensor signal 200 to generate the chatter vibration component signal 201.
  • the sensor signal processing unit 11 generates a plurality of types of state quantities based on the sensor signal 200, and outputs a state quantity signal 202 indicating the generated plurality of types of state quantities to the phase difference calculation unit 12. Specifically, the sensor signal processing unit 11 generates a state quantity signal 202 based on the chatter vibration component signal 201 output by the filter processing unit 10.
  • the state quantity signal 202 includes a first state quantity and a second state quantity.
  • the first state quantity is the chatter vibration component signal 201
  • the second state quantity is the state quantity obtained by time-differentiating the chatter vibration component signal 201 once.
  • the sensor signal processing unit 11 simultaneously converts the chatter vibration component signal 201 and the chatter vibration component signal 201 into a state quantity signal 202 as a time-series signal.
  • the difference in the number of times of time differentiation between the first state quantity and the second state quantity may be any combination as long as it is an odd number.
  • the first state quantity is the state quantity obtained by time-differentiating the chatter vibration component signal 201 P times
  • the second state quantity is the state quantity obtained by time-differentiating Q times.
  • P and Q are integers.
  • the difference between P and Q may be an odd number.
  • the dimensions of the first state quantity and the second state quantity may be the dimensions obtained by time-integrating the chatter vibration component signal 201.
  • the first state quantity may be the acceleration and the second state quantity may be the velocity.
  • the first state quantity may be a jerk which is a differential value of acceleration
  • the second state quantity may be a position.
  • the sensor signal processing unit 11 has, for example, two or more types of state quantities of the sensor signal 200, the state quantity obtained by time-differentiating the sensor signal 200, and the state quantity obtained by time-integrating the sensor signal. Can be generated.
  • the timing signal generation unit 16 determines that the angle command of the spindle 101 has passed a predetermined angle based on the spindle operation command 206 output by the drive command unit 15, the timing signal generation unit 16 outputs the timing signal 207 to the phase difference calculation unit 12. To do. The details of the method of generating the timing signal 207 will be described.
  • FIG. 3 is a diagram showing the relationship between the timing signal 207 output by the timing signal generation unit 16 shown in FIG. 1 and the angle command of the spindle 101.
  • the angle command of the spindle 101 is included in the spindle operation command 206 output by the drive command unit 15.
  • the angle command is a signal that takes a value of 0 to 360 degrees and returns to 0 degrees when it reaches 360 degrees.
  • the timing signal generation unit 16 outputs a timing signal 207 each time the angle command of the spindle 101 passes a predetermined angle ⁇ 1. As a result, the timing signal 207 is periodically output at a timing synchronized with the rotation of the spindle 101 of the machine tool 100.
  • the angle ⁇ 1 may be any angle as long as it is determined at one position during one rotation of the spindle 101, and can be, for example, the angle ⁇ 1 of the spindle 101 at the time of orientation of the spindle 101.
  • the spindle orientation is a reference angle at which the spindle 101 is stopped.
  • the timing signal generation unit 16 can also generate the timing signal 207 by using the speed command of the spindle 101 included in the spindle operation command 206.
  • the timing signal generation unit 16 outputs the timing signal 207 for each time T1 calculated from the speed command S (rpm) of the spindle 101 using the following mathematical formula (1) with the initial time t0 as the reference time. To do.
  • the timing signal generation unit 16 may use the angle command and the speed command of the spindle 101 together.
  • the timing signal generation unit 16 uses the operation command of the spindle 101 to generate the timing signal 207, but instead of the operation command of the spindle 101 or in addition to the operation command of the spindle 101.
  • the timing signal 207 may be generated by using the operation command of the feed shaft 102.
  • the phase difference calculation unit 12 receives the timing signal 207 output by the timing signal generation unit 16 and the state quantity signal 202 output by the sensor signal processing unit 11. Based on the timing signal 207 and the state quantity signal 202, the phase difference calculation unit 12 generates a dimensionless quantity indicating a plurality of types of state quantities in the state space for each timing signal 207, and the dimensionless quantity between phases. The phase difference information 203 indicating the difference between the above is calculated. The phase difference calculation unit 12 outputs the generated phase difference information 203 to the vibration determination unit 13.
  • the phase difference calculation unit 12 normalizes each of the plurality of state quantities included in the state quantity signal 202.
  • the phase difference calculation unit 12 normalizes each state quantity by dividing each state quantity by a predetermined maximum value of each state quantity.
  • the maximum value used here may be the maximum value of each state quantity obtained in the prior machining experiment, or may be the maximum value of each state quantity obtained in the prior simulation.
  • phase difference calculation unit 12 receives the timing signal 207 at time t1 and time t2. At this time, t2 is a value larger than t1.
  • the phase difference calculation unit 12 normalizes the state quantity signal 202 at time t1, and sets the normalized value as the first dimensionless quantity N1.
  • the phase difference calculation unit 12 normalizes the state quantity signal 202 in the same manner as at time t1, and sets the normalized value as the second dimensionless quantity N2.
  • FIG. 4 is a diagram showing a dimensionless quantity calculated by the phase difference calculation unit 12 shown in FIG. FIG. 4 shows that the first dimensionless quantity N1 and the second dimensionless quantity N2 calculated by the phase difference calculation unit 12 are the dimensions of the first state quantity of the state quantity signal 202 and the second state quantity. It is represented in the state space consisting of the dimensions of.
  • the phase difference calculation unit 12 sets an angle ⁇ formed by the first dimensionless quantity N1 which is the previous dimensionless quantity, the origin of the state space, and the second dimensionless quantity N2 which is the current dimensionless quantity. It is calculated as the phase difference between the first dimensionless quantity N1 and the second dimensionless quantity N2.
  • the phase difference calculation unit 12 performs the above calculation for each timing signal 207, and calculates the phase difference between the latest dimensionless quantity and the previous dimensionless quantity.
  • the phase difference calculation unit 12 outputs the phase difference information 203 indicating the calculated phase difference to the vibration determination unit 13.
  • FIG. 5 is a diagram showing an example of the transition of the phase difference calculated by the phase difference calculation unit 12 shown in FIG. 1 when chatter vibration is generated.
  • the dimensionless quantities N10 to N13 are dimensionless quantities calculated at each time t10 to t13 when the timing signal 207 is received. At this time, t13> t12> t11> t10.
  • the angle ⁇ 10 indicates the angle formed by the dimensionless quantity N10, the origin of the state space, and the dimensionless quantity N11
  • the angle ⁇ 11 indicates the angle formed by the dimensionless quantity N11, the origin of the state space, and the dimensionless quantity N12.
  • the angle ⁇ 12 indicates the angle formed by the dimensionless quantity N12, the origin of the state space, and the dimensionless quantity N13.
  • FIG. 6 is a diagram showing an example of the transition of the phase difference calculated by the phase difference calculation unit 12 shown in FIG. 1 when chatter vibration does not occur.
  • the dimensionless quantities N20 to N23 are dimensionless quantities calculated at each time t20 to t23 when the timing signal 207 is received. At this time, t23> t22> t21> t20.
  • the angle ⁇ 20 indicates the angle formed by the dimensionless quantity N20, the origin of the state space, and the dimensionless quantity N21
  • the angle ⁇ 21 indicates the angle formed by the dimensionless quantity N21, the origin of the state space, and the dimensionless quantity N22.
  • the angle ⁇ 22 indicates the angle formed by the dimensionless quantity N22, the origin of the state space, and the dimensionless quantity N23.
  • the phase difference calculation unit 12 calculates a constant value angle ⁇ , that is, a phase difference when chatter vibration occurs, and an irregular value angle ⁇ , that is, when chatter vibration does not occur. The phase difference will be calculated.
  • Machining conditions when chatter vibration occurs are spindle speed 2000 (RPM), feed per blade 0.1 (mm), radial depth cut 1.0 (mm), and workpiece protrusion amount 200 (mm) from the chuck. Is.
  • FIG. 7 is an experimental result when chatter vibration occurs, and is a diagram showing a waveform of acceleration generated during machining.
  • FIG. 8 is a diagram showing a phase difference of a dimensionless quantity obtained from the experimental results shown in FIG. 7.
  • the filter processing unit 10, the sensor signal processing unit 11, the timing signal generation unit 16, and the phase difference calculation unit 12 process the acceleration data output by the acceleration sensor as the sensor signal 200, so that the dimensionless unit shown in FIG. 8 is absent.
  • the dimensionless quantity and the angle ⁇ were calculated.
  • the sensor signal processing unit 11 calculates and outputs a state quantity signal 202 having the first state quantity as acceleration and the second state quantity as velocity.
  • the velocity which is the second state quantity, was obtained by integrating the acceleration.
  • the timing signal generation unit 16 outputs a timing signal 207 each time the angle command of the spindle 101 passes the spindle angle at the time of spindle orientation.
  • the phase difference calculation unit 12 normalized the state quantity signal 202 and calculated the dimensionless quantities N101 to N106 at each time t101 to t106 when each timing signal 207 was received.
  • FIG. 8 shows dimensionless quantities N101 to N106 in the state space.
  • the angle ⁇ 101 indicates the angle formed by the dimensionless quantity N101, the origin of the state space, and the dimensionless quantity N102
  • the angle ⁇ 102 indicates the angle formed by the dimensionless quantity N102, the origin of the state space, and the dimensionless quantity N103.
  • the angle ⁇ 103 indicates the angle formed by the dimensionless quantity N103, the origin of the state space, and the dimensionless quantity N104.
  • the angle ⁇ 104 indicates the angle formed by the dimensionless quantity N104, the origin of the state space, and the dimensionless quantity N105
  • the angle ⁇ 105 indicates the angle formed by the dimensionless quantity N105, the origin of the state space, and the dimensionless quantity N106.
  • the angles ⁇ 101 to ⁇ 105 are constant. From the above experimental results, it is experimentally shown that when chatter vibration occurs, the trajectory of the dimensionless quantity in the state space becomes circular, and the angles ⁇ 101 to ⁇ 105 at each time take a constant value. It was.
  • the machining conditions when chatter vibration does not occur are: spindle speed 2000 (RPM), feed 0.1 (mm) per blade, radial depth cut 1.0 (mm), and workpiece protrusion amount 100 from the chuck. (Mm).
  • FIG. 9 is an experimental result when chatter vibration does not occur, and is a diagram showing a waveform of acceleration generated during machining.
  • FIG. 10 is a diagram showing a phase difference of a dimensionless quantity obtained from the experimental results shown in FIG. Also in this experiment, the filter processing unit 10, the sensor signal processing unit 11, the timing signal generation unit 16, and the phase difference calculation unit 12 process the acceleration data output by the acceleration sensor as the sensor signal 200, and are shown in FIG. The dimensionless quantity and the angle ⁇ were calculated.
  • the sensor signal processing unit 11 calculates and outputs a state quantity signal 202 having the first state quantity as acceleration and the second state quantity as velocity.
  • the velocity which is the second state quantity, was obtained by integrating the acceleration.
  • the timing signal generation unit 16 outputs a timing signal 207 each time the angle command of the spindle 101 passes the spindle angle at the time of spindle orientation.
  • the phase difference calculation unit 12 normalized the state quantity signal 202 and calculated the dimensionless quantities N201 to N206 at each time t201 to t206 when each timing signal 207 was received.
  • FIG. 10 shows dimensionless quantities N201 to N206 in the state space.
  • the angle ⁇ 201 indicates the angle formed by the dimensionless quantity N201, the origin of the state space, and the dimensionless quantity N202
  • the angle ⁇ 202 indicates the angle formed by the dimensionless quantity N202, the origin of the state space, and the dimensionless quantity N203.
  • the angle ⁇ 203 indicates the angle formed by the dimensionless quantity N203, the origin of the state space, and the dimensionless quantity N204.
  • the angle ⁇ 204 indicates the angle formed by the dimensionless quantity N204, the origin of the state space, and the dimensionless quantity N205
  • the angle ⁇ 205 indicates the angle formed by the dimensionless quantity N205, the origin of the state space, and the dimensionless quantity N206. From the above experimental results, it is experimentally shown that when chatter vibration does not occur, the trajectory of the dimensionless quantity in the state space is irregular, and the angles ⁇ 201 to ⁇ 205 at each time take indefinite values. It was.
  • the vibration determination unit 13 receives an angle ⁇ , which is a phase difference, from the phase difference calculation unit 12, and determines chatter vibration using the procedure shown below.
  • the vibration determination unit 13 determines whether or not chatter vibration has occurred based on the phase difference information 203 calculated by the phase difference calculation unit 12.
  • the vibration determination unit 13 outputs the vibration determination information 204 to the command value correction unit 14. The details of the vibration determination unit 13 will be described.
  • the vibration determination unit 13 records the phase difference information 203 output by the phase difference calculation unit 12. This recording is repeated every time the phase difference information 203 is received, and the angle ⁇ included in the phase difference information 203 is recorded as time series data.
  • the vibration determination unit 13 calculates the difference of the recorded angle ⁇ , and if the difference of the angle ⁇ is less than a predetermined threshold value, determines that chatter vibration has occurred, and uses the vibration determination information 204 as a command value. Output to the correction unit 14.
  • the threshold value used by the vibration determination unit 13 will be described.
  • the phase difference calculation unit 12 outputs the angle ⁇ in the range of ⁇ 180 degrees.
  • the angle ⁇ takes an indefinite value in the range of ⁇ 180 degrees, so the difference in angle ⁇ takes a value of ⁇ 360 degrees.
  • chatter vibration occurs, the angle ⁇ takes a constant value, so that the difference between the angles ⁇ becomes zero.
  • the actual angle ⁇ includes an error due to a measurement error or the like. Therefore, if the threshold value is set to a value sufficiently larger than the error of the angle ⁇ , the presence or absence of chatter vibration can be determined. For example, when the error of the angle ⁇ is ⁇ 10 degrees, the threshold value may be a value larger than 20 degrees, for example, 30 degrees.
  • the vibration determination unit 13 calculates the standard deviation of the angle ⁇ included in the plurality of phase difference information 203 repeatedly received, and when the standard deviation of the angle ⁇ is less than a predetermined threshold value, chatter vibration occurs.
  • FIG. 11 is a diagram for explaining a first example of the processing of the vibration determination unit 13 shown in FIG.
  • the vibration determination unit 13 calculates the standard deviation using the angle ⁇ acquired between the time t3 and the time t4, and determines the presence or absence of chatter vibration. In the first example shown in FIG. 11, the standard deviation of the angle ⁇ exceeds the threshold of the standard deviation. Therefore, the vibration determination unit 13 can determine that chatter vibration has not occurred. Further, FIG.
  • the vibration determination unit 13 can determine that chatter vibration has occurred.
  • the threshold value of the standard deviation can be a value larger than 10 degrees, for example, 20 degrees.
  • the vibration determination unit 13 may determine the presence or absence of chatter vibration by using the dispersion of the angle ⁇ instead of the standard deviation of the angle ⁇ included in the plurality of phase difference information 203 repeatedly received. It can.
  • the variance threshold can be determined in the same manner as in the case of the standard deviation.
  • the vibration determination unit 13 may determine chatter vibration by using the difference between the maximum value and the minimum value of the angle ⁇ . In this case, the vibration determination unit 13 calculates the difference between the maximum value and the minimum value of the angle ⁇ received during the period of the predetermined length, and the calculated difference between the maximum value and the minimum value is predetermined. If it is smaller than the threshold value, it can be determined that chatter vibration is occurring.
  • the vibration determination unit 13 may determine the chatter vibration by using an inference model in which machine learning has been performed in advance so as to determine the presence or absence of chatter vibration.
  • FIG. 22 is a diagram showing a configuration example for realizing a third example of the processing of the vibration determination unit 13 shown in FIG.
  • the vibration determination unit 13 has an information observation unit 301 and an inference unit 302.
  • the information observation unit 301 observes the angle ⁇ included in the phase difference information 203 for a predetermined number of samplings as time series data, and generates an inference data set 303.
  • the inference unit 302 inputs the inference data set 303 generated by the information observation unit 301 into an inference model that has been machine-learned in advance to output the presence or absence of chatter vibration, thereby determining vibration indicating the presence or absence of chatter vibration.
  • Information 204 is output.
  • the inference unit 302 may use an inference model of any algorithm.
  • an inference model using a neural network will be described.
  • FIG. 23 is a diagram showing a configuration example of an inference model using a neural network.
  • the neural network has an input layer x1, x2, ..., Xn having n neurons and an intermediate layer y1, y2, ..., Ym having m neurons, and 1 It is composed of an output layer z1 having an individual neuron.
  • FIG. 23 shows an example in which the intermediate layer is one layer, two or more intermediate layers may be provided.
  • the input layers x1, x2, ..., Xn are connected to the intermediate layers y1, y2, ..., Ym, and the intermediate layers y1, y2, ..., Ym are connected to the output layer z1.
  • the connection between the input layer and the intermediate layer shown in FIG. 23 is an example, and each input layer x1, x2, ..., Xn is connected to any of the intermediate layers y1, y2, ..., Ym. May be good.
  • FIG. 24 is a diagram showing a functional configuration of a learning device 400 that learns an inference model used by the vibration determination unit 13 shown in FIG. 22.
  • the learning device 400 has a data acquisition unit 401 and a learning processing unit 402.
  • the data acquisition unit 401 acquires a learning data set 304 that associates the phase difference information 203 acquired during actual processing with the chatter vibration presence / absence information 305 indicating the presence / absence of chatter vibration.
  • the presence or absence of chatter vibration can be expressed using different numerical values depending on whether or not chatter vibration has occurred. For example, a numerical value such as "1" when chatter vibration occurs and "0" when it does not occur may be used.
  • the chatter vibration presence / absence information 305 included in the learning data set 304 for example, the result determined by evaluating the machined surface after machining can be used.
  • the learning processing unit 402 performs learning using the phase difference information 203 included in the learning data set 304 as input data.
  • the learning processing unit 402 performs so-called supervised learning so that the output of the inference model matches the numerical value of the chatter vibration presence / absence information 3-5.
  • the learning processing unit 402 inputs the phase difference information 203 to the input layer and adjusts the weights A1 to Aa and B1 to Bb so that the value output from the output layer approaches the numerical value indicating the presence or absence of chatter vibration. Then, when the phase difference information 203 is input, an inference model that outputs an output value corresponding to the presence or absence of chatter vibration is learned.
  • the learning processing unit 402 can use the error back propagation method as a supervised learning method used when learning an inference model. In addition, in order to improve the generalization performance of the inference model, the learning processing unit 402 uses methods such as "dropout” that randomly excludes neurons during learning and “early stopping” that monitors errors and stops learning early. You may use it.
  • the learning processing unit 402 outputs the inference model for which learning has been completed as a learned inference model.
  • the learned inference model output by the learning processing unit 402 can be used in the inference unit 302 shown in FIG.
  • the command value correction unit 14 When the command value correction unit 14 receives the vibration determination information 204 from the vibration determination unit 13, it outputs a correction signal 205 instructing the drive command unit 15 to change the operation command 208.
  • the correction signal 205 is a signal that changes the speed command of the spindle 101 by a predetermined ratio corresponding to the current spindle speed.
  • the correction signal 205 may be a signal for changing the rotation speed of the spindle 101 so that the rotation speed of the spindle 101 matches an integral fraction of the resonance frequency of the mechanical structure calculated in advance by finite element analysis. ..
  • the resonance frequency of the mechanical structure a value identified by a preliminary experiment may be used instead of the finite element analysis.
  • the correction signal 205 may be a signal that changes the speed command location of the feed shaft 102 by a predetermined ratio. Specifically, the correction signal 205 can be a signal that reduces the speed command value of the feed shaft 102 so that the motor current of the feed shaft 102 becomes smaller than a predetermined reference value.
  • time series data of a plurality of types of state quantities are generated based on the sensor signal 200 that detects the vibration of the tool or the machining object attached to the machine tool 100.
  • dimensionless quantities indicating a plurality of types of state quantities are generated for each timing signal 207, and phase difference information 203 indicating an angle ⁇ which is a difference between the phases of the dimensionless quantities is calculated.
  • phase difference information 203 indicating an angle ⁇ which is a difference between the phases of the dimensionless quantities is calculated.
  • the occurrence of chatter vibration in the machine tool 100 is determined.
  • the numerical control device 1 does not use frequency analysis typified by FFT for determining chatter vibration, it is possible to obtain sufficient frequency resolution for determining chatter vibration without being restricted by data acquisition time. Therefore, the time required for determining the chatter vibration, that is, the time from the occurrence of the chatter vibration to the determination of the occurrence of the chatter vibration can be shortened. Therefore, the time from the occurrence of the chatter vibration to the suppression of the chatter vibration is shortened, and the chatter vibration can be suppressed at high speed.
  • the numerical control device 1 determines the chatter vibration based on the phase difference information 203 which is a dimensionless quantity.
  • a conventional method for example, there is a method of determining chatter vibration based on the amplitude of chatter vibration.
  • the amplitude of chatter vibration is used, the magnitude of the amplitude differs depending on the machining conditions, so it is necessary to set the amplitude threshold value according to the machining conditions.
  • the numerical control device 1 that determines the chatter vibration based on the phase difference information 203 which is a dimensionless quantity the chatter vibration can be determined without depending on the machining conditions, and the threshold value depends on the machining conditions. There is no need to provide.
  • the machine tool 100 has a configuration in which an object to be machined is installed on the spindle 101, but it is a case where a tool is installed on the spindle 101, for example, as represented by a milling machine and a turning machine. Can produce the same effect.
  • one sensor 103 is used, but the sensors 103 may be installed at a plurality of locations of the machine tool 100. In this case, it is possible to perform the process described in the first embodiment on all the installed sensors 103 and determine the occurrence of chatter vibration. When the sensors 103 are installed at a plurality of locations, even if chatter vibration occurs at the plurality of locations during processing, the chatter vibration can be determined and suppressed.
  • the sensor 103 installed in the machine tool 100 may detect vibration using two or more types of sensors 103 and output a sensor signal 200 including two or more types of state quantities to the filter processing unit 10.
  • the sensor signal processing unit 11 can set the two types of sensor outputs as the first state quantity and the second state quantity, respectively. By directly measuring the second state quantity with the sensor 103, it is possible to determine the chatter vibration without being affected by the quantization error associated with the differentiation or integration.
  • the sensor signal processing unit 11 extracts two types of state quantities, but three or more types of state quantities may be extracted.
  • Embodiment 2 In the first embodiment, an example in which the number of blades of the tool is one has been described. In the second embodiment, a configuration for determining the occurrence of chatter vibration when the number of blades of the tool is two or more will be described.
  • FIG. 13 is a diagram showing a functional configuration of the numerical control device 2 according to the second embodiment.
  • the numerical control device 2 includes a filter processing unit 10, a sensor signal processing unit 11, a phase difference calculation unit 12, a vibration determination unit 13, a command value correction unit 14, a drive command unit 15, and a timing signal generation unit 16. It has -1 and a tool information recording unit 17.
  • the numerical control device 2 has a tool information recording unit 17 for outputting tool information 210 in addition to the configuration of the numerical control device 1 according to the first embodiment, and replaces the timing signal generation unit 16 of the numerical control device 1. , Has a timing signal generation unit 16-1.
  • a tool information recording unit 17 for outputting tool information 210 in addition to the configuration of the numerical control device 1 according to the first embodiment, and replaces the timing signal generation unit 16 of the numerical control device 1.
  • the tool information recording unit 17 records the tool information 210, which is information about the tool installed in the machine tool 100, and outputs the recorded tool information 210 to the timing signal generation unit 16-1.
  • the tool information 210 includes at least information indicating the number of blades of the tool. Further, the tool information 210 may include information indicating a tool shape such as a tool type such as an end mill and a cutting tool, a tool length, and a tool diameter.
  • the tool information recording unit 17 outputs tool information 210 indicating that the number of blades of the tool is one. Further, even when a turning tool is attached to the machine tool 100, when a plurality of tools cut at the same time, the number of blades is the same as the number of tools. For example, when the machine tool 100 has a lower tool post and an upper tool post, and machining is performed with a turning tool attached to both tool stands one by one, the tool information recording unit 17 has two blades. The tool information 210 indicating that is output.
  • the timing signal generation unit 16-1 determines that the spindle angle has passed a predetermined angle based on the spindle operation command 206 output by the drive command unit 15 and the tool information 210 output by the tool information recording unit 17. , The timing signal 207 is output to the phase difference calculation unit 12 at the determined timing.
  • ⁇ is a natural number of 2 or more.
  • FIG. 14 is a diagram showing a first example of the relationship between the timing signal 207 output by the timing signal generation unit 16-1 shown in FIG. 13 and the angle command of the spindle 101.
  • the angle command is a signal that takes a value between 0 degrees and 360 degrees and returns to 0 degrees when it reaches 360 degrees.
  • the timing signal 207 is output each time the angle command of the spindle 101 passes through a plurality of predetermined angles ⁇ 1 and angle ⁇ 2. That is, the timing signal 207 is output twice, which is the same number as the number of blades, while the spindle 101 makes one rotation.
  • the angle ⁇ 1 may be any angle as long as it is set to 1 during one rotation of the spindle 101.
  • the angle ⁇ 1 can be the spindle angle at the time of spindle orientation.
  • FIG. 15 is a diagram showing a second example of the relationship between the timing signal 207 output by the timing signal generation unit 16-1 shown in FIG. 13 and the angle command of the spindle 101.
  • the timing signal 207 is output each time the angle command of the spindle 101 passes through a predetermined angle ⁇ ⁇ .
  • ⁇ is a natural number of 2 or more and ⁇ or less.
  • the timing signal 207 is output ⁇ times while the spindle 101 makes one rotation.
  • ⁇ 1 may be any angle as long as it is set to 1 during one rotation of the spindle 101.
  • the timing signal generation unit 16-1 outputs a timing signal 207 each time the spindle 101 rotates by an angle obtained by dividing 360 degrees by the number of blades ⁇ .
  • the timing signal generation unit 16-1 may generate the timing signal 207 by using the speed command of the spindle 101 included in the spindle operation command 206. In this case, the timing signal generation unit 16-1 generates the timing signal 207 for each time T2 calculated from the speed command S (rpm) of the spindle 101 using the following mathematical formula (3).
  • the timing signal 207 is generated based on the tool information 210, even when the number of blades of the tool attached to the machine tool 100 is a plurality, the implementation is performed. Similar to the first embodiment, the time required for determining the chatter vibration, that is, the time from the occurrence of the chatter vibration to the determination of the occurrence of the chatter vibration can be shortened.
  • the numerical control device 2 can determine and suppress chatter vibration by the same processing as the numerical control device 1.
  • FIG. 16 is a diagram showing a functional configuration of the numerical control device 3 according to the third embodiment.
  • the numerical control device 3 includes a filter processing unit 10, a sensor signal processing unit 11, a phase difference calculation unit 12, a vibration determination unit 13, a command value correction unit 14, a drive command unit 15, and a timing signal generation unit 16. It has -2.
  • the numerical control device 3 has a timing signal generation unit 16-2 in place of the timing signal generation unit 16 of the numerical control device 1.
  • the parts different from the numerical control device 1 will be mainly described.
  • the machine tool 100 has an angle information sensor 104 attached to the spindle 101 in addition to the configuration described in the first embodiment.
  • the angle information sensor 104 is a sensor that measures the spindle angle, and for example, an encoder, a potentiometer sensor, or the like can be used.
  • the angle information 211 is a signal including at least the measured value of the spindle angle measured by the angle information sensor 104.
  • the angle information sensor 104 outputs the generated angle information 211 to the numerical control device 3.
  • the timing signal generation unit 16-2 generates the timing signal 207 based on the measured value of the spindle angle included in the angle information 211.
  • the method in which the timing signal generation unit 16-2 generates the timing signal 207 is the same as that in the first embodiment, but the measured value of the spindle angle is used instead of the angle command of the spindle 101.
  • the angle information sensor 104 may be a sensor that detects the measured value of the spindle speed.
  • the angle information sensor 104 is an angular velocity sensor.
  • the timing signal generation unit 16-2 can generate the timing signal 207 based on the measured value of the spindle speed instead of the angle command of the spindle 101.
  • the timing signal generation unit 16-2 uses the initial time t0 as a reference time to generate a timing signal 207 for each time T3 calculated from the measured value S ref (rpm) of the spindle speed using the following mathematical formula (4). Output.
  • the timing signal 207 is generated based on the measured value of the spindle angle. Therefore, the timing signal 207 can be generated without being affected by the control tracking error that occurs between the angle command of the spindle 101 and the actual angle. Therefore, the numerical control device 3 is the time required for determining the chatter vibration, that is, even when a control tracking error occurs between the angle command of the spindle 101 and the actual angle, as in the first embodiment. It is possible to shorten the time from the occurrence of chatter vibration to the determination of the occurrence of chatter vibration.
  • timing signal generation unit 16-2 describes the spindle angle command and the measured value of the spindle angle. May be used together, or the spindle speed command and the measured value of the spindle speed may be used together.
  • FIG. 17 is a diagram showing a functional configuration of the numerical control device 4 according to the fourth embodiment.
  • the numerical control device 4 includes a filter processing unit 10, a sensor signal processing unit 11, a phase difference calculation unit 12, a vibration determination unit 13, a command value correction unit 14, a drive command unit 15, and a timing signal generation unit 16. It has a -3 and a tool information recording unit 17. That is, the numerical control device 4 has a tool information recording unit 17 in addition to the configuration of the numerical control device 3 described in the third embodiment, and instead of the timing signal generation unit 16-2, the timing signal generation unit 16- Has 3.
  • the parts different from the numerical control device 2 will be mainly described.
  • the timing signal generation unit 16-3 generates a timing signal 207 based on the angle information 211 output by the angle information sensor 104 and the tool information 210 output by the tool information recording unit 17, and generates the generated timing signal 207. Output to the phase difference calculation unit 12.
  • the timing signal generation unit 16-3 can generate the timing signal 207 in the same manner as the timing signal generation unit 16-1 of the second embodiment. At this time, the timing signal generation unit 16-3 generates the timing signal 207 by using the measured value of the spindle angle instead of the angle command of the spindle 101.
  • the timing signal 207 is transmitted without being affected by the control tracking error that occurs between the angle command of the spindle 101 and the actual angle, as in the third embodiment.
  • the time required for determining the chatter vibration that is, the chatter vibration is generated as in the first embodiment. It is possible to shorten the time from the occurrence to the determination of the occurrence of chatter vibration.
  • FIG. 18 is a diagram showing a functional configuration of the numerical control device 5 according to the fifth embodiment.
  • the numerical control device 5 includes a filter processing unit 10, a sensor signal processing unit 11, a phase difference calculation unit 12, a vibration determination unit 13, a command value correction unit 14, a drive command unit 15, and a timing signal generation unit 16. It has -4 and. Further, the numerical control device 5 can acquire the machining program information 212 including the spindle rotation speed command 213 from the machining program 18 for controlling the machine tool 100.
  • the parts different from the numerical control device 1 will be mainly described.
  • the spindle speed command 213 is output to the timing signal generation unit 16-4, and the machining program information 212 is output to the drive command unit 15.
  • the drive command unit 15 can output an operation command 208 to the machine tool 100 according to the machining program information 212.
  • the timing signal generation unit 16-4 generates the timing signal 207 based on the spindle speed command 213 extracted from the machining program information 212.
  • the timing signal generation unit 16-4 outputs the timing signal 207 for each time T4 calculated by using the spindle rotation speed command 213 and the mathematical formula (5) shown below with the initial time t0 as the reference time.
  • the S cmd in the mathematical formula (5) indicates the spindle rotation speed indicated by the spindle rotation speed command 213.
  • the timing signal 207 can be generated based on the spindle speed command 213 included in the machining program 18. Even when the timing signal 207 is generated by using the machining program 18, the time required for determining the chatter vibration, that is, the occurrence of the chatter vibration after the chatter vibration is generated is determined as in the first embodiment. It is possible to shorten the time required to do so.
  • FIG. 19 is a diagram showing a functional configuration of the numerical control device 6 according to the sixth embodiment.
  • the numerical control device 6 includes a filter processing unit 10, a sensor signal processing unit 11, a phase difference calculation unit 12, a vibration determination unit 13, a command value correction unit 14, a drive command unit 15, and a timing signal generation unit 16. It has -5 and a tool information recording unit 17.
  • the numerical control device 6 has a tool information recording unit 17 in addition to the configuration of the numerical control device 5, and has a timing signal generation unit 16-5 in place of the timing signal generation unit 16-4.
  • the timing signal generation unit 16-5 generates a timing signal 207 based on the tool information 210 and the spindle speed command 213, and outputs the generated timing signal 207 to the phase difference calculation unit 12.
  • the timing signal generation unit 16-5 uses the initial time t0 as a reference time, and uses the following mathematical formula (6), the number of blades ⁇ , and the spindle rotation speed S cmd to calculate the timing signal 207 for each time T5. Is output.
  • Each functional unit of the numerical control devices 1 to 6 is realized by a processing circuit.
  • These processing circuits may be realized by dedicated hardware, or may be control circuits using a CPU (Central Processing Unit).
  • FIG. 20 is a diagram showing dedicated hardware for realizing the functions of the numerical control devices 1 to 6 according to the first to sixth embodiments.
  • the processing circuit 90 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • FIG. 21 is a diagram showing a configuration of a control circuit 91 for realizing the functions of the numerical control devices 1 to 6 according to the first to sixth embodiments.
  • the control circuit 91 includes a processor 92 and a memory 93.
  • the processor 92 is a CPU, and is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
  • the memory 93 is, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM). Magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disk), etc.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM).
  • Magnetic disks flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disk), etc.
  • the control circuit 91 When the above processing circuit is realized by the control circuit 91, it is realized by the processor 92 reading and executing the program corresponding to the processing of each component stored in the memory 93.
  • the memory 93 is also used as a temporary memory in each process executed by the processor 92.
  • the configuration shown in the above-described embodiment shows an example, and can be combined with another known technique, can be combined with each other, and does not deviate from the gist. It is also possible to omit or change a part of the configuration.
  • 1,2,3,4,5,6 Numerical control device 10 Filter processing unit, 11 Sensor signal processing unit, 12 Phase difference calculation unit, 13 Vibration determination unit, 14 Command value correction unit, 15 Drive command unit, 16, 16-1, 16-2, 16-3, 16-4, 16-5 Timing signal generator, 17 Tool information recording unit, 18 Machining program, 90 Processing circuit, 91 Control circuit, 92 Processor, 93 Memory, 100 Machining Machine, 101 spindle, 102 feed axis, 103 sensor, 104 angle information sensor, 200 sensor signal, 201 chatter vibration component signal, 202 state quantity signal, 203 phase difference information, 204 vibration judgment information, 205 correction signal, 206 spindle operation command , 207 timing signal, 208 operation command, 209 operation information, 210 tool information, 211 angle information, 212 machining program information, 213 spindle rotation command, 301 information observation unit, 302 inference unit, 303 inference data set, 304 for learning Data set, 305 chatter vibration presence / absence information, 400 learning device, 401 data acquisition

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)

Abstract

Ce dispositif de commande numérique (1) est caractérisé en ce qu'il comprend : une unité d'instruction d'entraînement (15) qui donne une instruction d'actionnement à un arbre principal (101) et à un arbre de transmission (102) d'un engin de mise en œuvre (100) ; une unité (11) de traitement de signal de capteur qui génère de multiples types de quantités d'état sur la base d'un signal de capteur (200) obtenu par la détection d'une vibration d'une pièce ou d'un outil fixé à l'engin de mise en œuvre (100) ; une unité (16) de génération de signal de synchronisation qui génère et délivre périodiquement un signal de synchronisation (207) en synchronisation avec la rotation de l'arbre principal (101) ; une unité (12) de calcul de différence de phase qui, pour chaque signal de synchronisation (207), génère des quantités sans dimension indiquant de multiples types de quantités d'état dans un espace d'état et calcule des informations de différence de phase (203) indiquant la différence de phase entre les quantités sans dimension ; et une unité (13) de détermination de vibration qui comprend une unité d'observation d'informations qui crée un ensemble de données d'inférence à partir des informations de différence de phase (203) et une unité d'inférence qui comprend un modèle d'inférence entraîné qui a subi un apprentissage automatique pour déterminer la présence ou l'absence de vibration de broutement par l'entrée de l'ensemble de données d'inférence. L'unité (13) de détermination de vibration introduit l'ensemble de données d'inférence dans l'unité d'inférence pour déterminer l'apparition d'une vibration de broutement.
PCT/JP2020/002108 2019-04-08 2020-01-22 Dispositif de commande numérique et dispositif d'apprentissage WO2020208893A1 (fr)

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