CN102699761A - Error identification method of five-axis numerically controlled machine tool based on S-shaped test specimen - Google Patents
Error identification method of five-axis numerically controlled machine tool based on S-shaped test specimen Download PDFInfo
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Abstract
The invention relates to an error identification method of a five-axis numerically controlled machine tool based on an S-shaped test specimen. The error identification method comprises the steps of: 1. cutting an S-shaped specimen; 2. measuring a normal error of the S-shaped specimen cut in the step 1; 3. building a mapping relation database of the normal error of the S-shaped specimen and a machine tool factor; 4. tracing back to a main factor of affecting the precision of the machine tool; and 5. applying the machine tool factor obtained from the quantitative identification of a BP (back-propagation) neural network in the step 4. The method has the beneficial effects that not only can the precision of the machine tool be judged by adopting the method, but also an optimization scheme of the precision of the machine tool can be provided when the precision of the machine tool can not achieve the requirements, and the machine tool factor of affecting the precision of the machine tool is adjusted from a quantity value, so that the requirements of high precision of the machine tool can be achieved.
Description
Technical field
The invention belongs to the numerical control machine tool technique field, relate in particular to the technical field of the error-detecting of five-axle number control machine tool.
Background technology
5-shaft linkage numerical control lathe (abbreviation five-axle number control machine tool) development in the advanced manufacturing industry the status and to improve in the overall technology horizontal process of industries such as military project, space flight and aviation, the energy role great.Therefore, machining accuracy, the working (machining) efficiency of 5-shaft linkage numerical control lathe are had higher requirement.The Digit Control Machine Tool factor can be divided into static factor and dynamic factor two big classes; Wherein static accuracy is to detect under the chip-load and under the operating mode that lathe does not move or movement velocity is very low not having; Because high-grade, digitally controlled machine tools are made the lifting of equipment technology; Static accuracy can only reflect the machining accuracy of high-grade lathe on limited aspect, dynamic accuracy is only the principal element that influences the high-grade, digitally controlled machine tools machining accuracy.
The thought of the error identification of 5-shaft linkage numerical control lathe is the processing characteristics of lathe to be estimated with evaluation through the detection to the machine tooling error.Relatively the error identification method of five-axle number control machine tool commonly used mainly contains following several kinds at present:
(1) based on nine line identification methods of laser interferometer: the marrow of nine line identification methods is only to check in the lathe stage coordinates system that site error and the straightness error on 9 straight lines realize the identification to 21 basic geometric errors of lathe.At first select translation shaft motion in three translation shaft and two other maintenance is static, in stage coordinates system, select three straight lines, measure the displacement error of each point on three straight lines.And when measuring straight line displacement error wherein, measure the straightness error of each other vertical both direction; When measuring another straight-line displacement error, measure the straightness error of a direction; Set up 6 linear equations based on measuring the straightness error and the displacement error that come; The solving equation group just can obtain 6 elementary errors of kinematic axis, in like manner just can solve 12 elementary errors of two other translation shaft.Just can obtain 3 error of perpendicularitys through reading the correction angle that laser interferometer straight line when the Linearity Measurement error departs from benchmark at last.
(2) based on the error identification method of ball bar method: the two ends of ball bar are made up of steel ball with high precision, and an end is fixed, and the other end is connecting a high accuracy displacement sensor.Locate through the magnetic suction base of three-point fix at two steel ball two ends, and an end is adsorbed on the main shaft, and the other end then is adsorbed on the workbench, and is as shown in Figure 1.It mainly is the measurement that is used to measure Digit Control Machine Tool two-axle interlocking precision, respectively can measured X-Y, and the two-axle interlocking precision on X-Z and Y-Z plane.When workbench is made the circumference moving interpolation with respect to main shaft; Form the arc track of a simulation cutting; The variation of distance and pass to computer between sensor acquisition two steel balls; Through the software diagnosis analysis, obtain the circularity precision of two-axle interlocking and isolate various individual errors, like backlass, oppositely jump dash, servoly do not match, ratio does not match, linearity, perpendicularity, circular error and lateral clearance etc.
(3) detect the error identification of test specimen based on NAS 979 (American National space flight standard): U.S. NAS 979 has formulated " circle-rhombus-square " shape test specimen cutting experiment standard; Should detect the test specimen linearity of machines edge of bed X coordinate respectively through trial cut; Perpendicularity between X, Y, the Z coordinate, and the positional precision etc. in hole on the linearity of numerical control interpolation, circularity and the X-Y plane.Because have linear relationship between the error of each reference axis of lathe and the stroke, the corresponding size of this standard code cutting test specimen is confirmed according to the stroke of each coordinate of lathe.The feasible like this operating accuracy that utilizes the small size test specimen to detect big stroke is more reasonable.
Compare in the face of above-mentioned several kinds of error identification methods down:
Nine line identification methods based on laser interferometer only are to do under the straight-line situation at the lathe single shaft 21 individual event geometric errors of lathe are carried out identification, do not reflect under the multi-shaft interlocked situation quality of fit of each.And each kinematic axis of lathe is to detect the individual event geometric error at a slow speed under the situation in zero load, can not reflect the lathe dynamic property that the machine tooling performance is had material impact.Therefore testing result can not reflect the processing characteristics of lathe fully concerning the machine tool error identification.
Greatly promoted the detection of Digit Control Machine Tool dynamic property based on the error identification of ball bar method; Through kinematic error analysis to particular track; Can instead solve intrinsic static geometric error of lathe or multi-shaft interlocked dynamic accuracy, this helps to detect the dynamic movement process of lathe.But; Detection means based on ball bar all is to lathe special exercise track; And track changes situation comparatively stably; Just be difficult to realize for the profile of quick variation curved surface, and detection of dynamic all is under the operating mode that lathe does not load, to carry out that this has gap greatly with motion state in the actual cut.
Detect the error identification method of test specimen based on NAS 979; What propose spends the NAS979 test specimen that the inclination squares are formed by hole, circle, rhombus and 3; Be primarily aimed at the three axis numerically controlled machine test; Lack machine dynamic characteristics demand in the reflection Machining of Curved Surface, a lot of difficult processing parts all have some higher requirement on the pattern of 3D border.
Can find out that by above error identification method present Digit Control Machine Tool error identification method can not reflect the machinability of lathe comprehensively, and mainly be the identification of under the situation of unloaded low speed, the static factor of lathe being carried out.Though the NAS979 test specimen adopts the method for trial cut equally, rotating speed and load have been guaranteed, because its geometrical property simply can not reflect the performance of lathe dynamic property and processed complex curved surface.Thereby can't reach the requirement of Digit Control Machine Tool high manufacturing accuracy.
Chinese invention patent CN200710048269.7 and U.S. cognate invention patent US8061052B2 thereof disclosed " serpentine of integrated detecting precision of numerical control milling machine detects test specimen and detection method thereof " are the detection test specimen and the method for a kind of verification lathe processing characteristics of proposing recently, and be as shown in Figure 2.In the test specimen profile, incorporate the characteristic of aviation thin-walled, not only can reflect the static accuracy of lathe, and paid close attention to the dynamic accuracy of lathe.Test specimen curvature changes with surface configuration, has the angle of switching converting characteristic around the corner, can reflect 5-shaft linkage numerical control machine tooling error to a certain extent through cutting serpentine test specimen.1 expression serpentine test specimen base side among Fig. 2; Lateral thickness is 30mm, and 2 represent the profile that is processed into of serpentine test specimens, 3 expression serpentine test specimen base upper surfaces; The position of cutter in the 4 expression processing serpentine test specimen processes, the attitude of cutter in the 5 expression processing serpentine test specimen processes.This detection method only relates to the judge to machine finish, just on grade, the machining accuracy of lathe is carried out an evaluation qualitatively.Then do not relate to fully about the mechanism that influences of lathe factor machine finish.Therefore, when machine finish does not reach when requiring, this method can not provide the scheme of a concrete adjustment lathe factor and improve machine finish.
Summary of the invention
The objective of the invention is only only machine tool accuracy to be passed judgment at present and can not be provided the mechanism that influences to machine finish to the detection method of serpentine test specimen in order to overcome; Thereby influence the shortcoming that mechanism provides the scheme of optimizing machine tool accuracy according to this, proposed a kind of error identification method that detects the five-axle number control machine tool of test specimen based on serpentine.
Technical scheme of the present invention is: detect the error identification method of the five-axle number control machine tool of test specimen based on serpentine, comprise the steps:
Step 1. cutting serpentine test specimen;
The normal error of the serpentine test specimen after 1 cutting of step 2. measuring process;
Step 3. is set up the mapping relations database of serpentine test specimen normal error and lathe factor;
Step 4. is traced to the source influences the principal element of machine tool accuracy;
The lathe factor that obtains in the step 5. utilization BP neutral net quantification identification step 4.
The invention has the beneficial effects as follows: the present invention is through the method for trial cut serpentine test specimen; Reverse the tracing to the source out of serpentine test specimen normal error that measures based on three coordinate machine produces the lathe factor of main influence to machine tooling, and through the principal element of further having confirmed of neutral net machine tool accuracy influenced level.Therefore; Adopt this method to pass judgment on to machine tool accuracy; And do not reach the prioritization scheme that can also provide machine tool accuracy when requiring when machine tool accuracy, from value, the lathe factor that influences machine tool accuracy is adjusted, thereby reached the high-precision requirement of lathe.
Description of drawings
The ball bar structural representation that the error identification method of ball bar method of being based on Fig. 1 is adopted.
Fig. 2 is the structural representation of serpentine test specimen.
Fig. 3 is a main flow chart of the present invention;
Fig. 4 is the normal error sketch map of the serpentine test specimen after step 2 cutting of the present invention;
Fig. 5 a is the serpentine test specimen normal error under the gain effect of position in the embodiment of the invention;
Fig. 5 b is the serpentine test specimen normal error under the acceleration effect in the embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done further explanation:
As shown in Figure 3, detect the error identification method of the five-axle number control machine tool of test specimen based on serpentine, comprise the steps:
Step 1. cutting serpentine test specimen: the lathe to certain machining accuracy to be detected cuts the experiment of serpentine test specimen.
The lathe model of the lathe of certain machining accuracy to be detected is certain homemade five-shaft numerical control milling machine of V5-1030ABJ in the present embodiment, and the specific targets of serpentine test specimen and working angles thereof see also Chinese invention patent CN200710048269.7 and the disclosed content of U.S. cognate invention patent US8061052B2 thereof.
The normal error of the serpentine test specimen after 1 cutting of step 2. measuring process: the serpentine test specimen normal error after the utilization three coordinate measuring engine measurement goes out to cut in the present embodiment; Because three coordinate measuring machine is a kind of measurement machine and means commonly used, therefore be not described in detail for the measuring process of three coordinate measuring machine to the serpentine test specimen; Above-mentioned normal error also can adopt other measuring instrument and means to obtain.
The measurement result of present embodiment is as shown in Figure 4; Abscissa is represented measure dot number among the figure; Ordinate is represented the normal error value of measurement point, and serpentine test specimen normal error value demonstrates positive negative value and distributes, and points out the 60th minimum point (negative value) to occur; The 71st occur maximum of points (on the occasion of), three coordinate measuring machine has been measured the normal error value of 75 points (being n=75) on the serpentine test specimen altogether;
Step 3. is set up the mapping relations database of serpentine test specimen normal error and lathe factor: based on the Digit Control Machine Tool dynamic error model, the cutting process of the cutting serpentine test specimen of utilization Digit Control Machine Tool is set up the normal error of serpentine test specimen and the mapping relations database of lathe factor.
In the present embodiment, the concrete realization of step 3 comprises the steps:
Step 31. adopts transfer function to set up the dynamic error model of Digit Control Machine Tool: the dynamic error of Digit Control Machine Tool mainly be since in the working angles integral body of machinery, control system link and produce, each the coordination ability and performance of the basic exercise structure of lathe and servo-drive system is the principal element that influences the lathe dynamic accuracy; Adopt transfer function to describe the dynamic motion process of each link of lathe, comprised position ring, speed ring, servomotor ring and machinery ring, each basic link can be represented by corresponding ratio, integration or differentiation function; For the single shaft servo motion, the machine tool motion of input instructs through position ring, speed ring, servomotor ring, realizes the final machinery ring that drives, and each motion interlock realizes the cutting movement of Digit Control Machine Tool.
Step 32. utilizes theory of multi body system to set up the mapping relations database of serpentine test specimen normal error and lathe factor: what the dynamic error model in the step 31 produced is the movement locus of each; And the actual path of cutter is to be made up of each real-time track shaft interlock, and the rule of its interlock is exactly the multi-body movement theory.The marrow of theory of multi body system is with topological structure multi-body system to be carried out high level overview and refinement, describes the multi-body system topological structure with low preface volume array, representes relative position between body and attitude in the multi-body system with eigenmatrix.Digit Control Machine Tool error calculating through said method is set up will produce one group of corresponding with it normal error when the some factors of change lathe.Thus, serpentine test specimen normal error and lathe factor mapping relations database E have just been set up
i=(a
I1, a
I2..., a
In) E wherein
iI error matrix that factor is corresponding in expression serpentine test specimen normal error and the lathe factor mapping relations database, n are represented the error amount number that comprises in the error matrix, and a is that error amount is big or small.
The detailed process of step 3 can be with reference to by holy happy " accurate with the ultra-precision machine tool precision modeling technique " book write of Lee of the National University of Defense technology, and this step is as the common practise in present technique field so be not described in detail.
In the present embodiment; The cutting process of cutting serpentine test specimen in the experiment is input in the error model of being set up, and a certain factor of change lathe just can obtain corresponding serpentine test specimen normal error value, and this instance has been considered 17 lathe factors altogether; Each factor is considered two kinds of operating modes; Therefore comprised 34 groups of serpentine test specimen normal errors in the mapping database, as shown in table 1, U
I, 1, U
I, 2First operating mode numbering and second operating mode numbering, the for example U in the table 1 that represent i factor respectively
1,1, U
1,2Represent first operating mode and second operating mode of position gain respectively, the coding rule of other numbering is identical, and the purpose that adopts numbering is for the ease of from the database of serpentine test specimen normal error and lathe factor mapping relations, extracting the training sample of BP neutral net.
Table one
Fig. 5 a, 5b are two groups of serpentine test specimen normal error values in serpentine test specimen normal error and the lathe factor mapping relations database.Fig. 5 a is the serpentine test specimen normal error value under the position gain effect, and Fig. 5 b is the serpentine test specimen normal error value under the acceleration effect.Abscissa is represented cutting process instruction point among Fig. 5 a and Fig. 5 b, and ordinate is represented serpentine test specimen normal error value, and the normal error value demonstrates positive negative value and distributes.
Step 4. is traced to the source influences the principal element of machine tool accuracy: in the normal error of the measurement result input serpentine test specimen of the serpentine test specimen after will cutting and the mapping relations database of lathe factor; The approximately principle of selecting of utilization fuzzy membership calculates the normal error of this time cutting serpentine test specimen approach degree value with respect to the mapping relations database; Press the big principle of approach degree, trace to the source out the bigger lathe factor of machine tool accuracy influence;
In the present embodiment, the concrete realization of step 4 comprises the steps:
Step 41. degree of membership is calculated: the degree degree of membership that certain element of degree of membership statement belongs to set approaches 1 more, and the degree that the expression element belongs to set is high more, and degree of membership approaches 0 expression element more, and to belong to the degree of set low more.To serpentine test specimen error profile result, select the normal fuzzy membership function to calculate, shown in (1).To test cutting error (being the serpentine test specimen normal error that obtains in the step 2) matrix B=(x
1, x
2..., x
n) substitution formula (1) calculates for E
iDegree of membership μ
B
Wherein: a is E
iIn error amount (a
I1, a
I2..., a
In) in one; X is the error amount (x among the cutting error matrix B
1, x
2..., x
n) in one; K is a constant, k=20 in the present embodiment, and constant k also can be chosen other value greater than zero as required.
Step 42. approach degree value is calculated: because the similarity degree between two set of the big more explanation of approach degree value is high more, on the contrary low more, in order to confirm B and E
iSimilarity degree, with the degree of membership μ that calculates
BCalculate corresponding approach degree value in the absolute hamming formula of substitution (2), according to the maximum principle of approach degree, finally tracing to the source out influences the principal element of machine tool accuracy.
Wherein: μ
B(x
i) be i degree of membership that error amount is corresponding among the B; σ
H(E is the subsides progress value of B with respect to E B), and n is a natural number, in the present embodiment quantity of n corresponding the measurement point number of serpentine test specimen normal error matrix B.
Pass through the concrete computational process of a specific embodiment description of step 4 below.
Value E
i=(0.1465 ,-0.1477 ,-0.1514), constant K among the B=(0.2906 ,-0.2861 ,-0.2847), formula (1)=20, using formula (1) obtains
In like manner can calculate μ
B(x
2)=0.6818, μ
B(x
3)=0.7009; In with the formula of substitution as a result (2) in the formula (1), obtain the subsides progress value of B with respect to E:
Result of calculation to present embodiment is as shown in table 1, U
1,1, U
5,2, U
6,1Be three bigger factors of approach degree, respectively corresponding the position gain operating mode 1 of lathe, B axle acceleration operating mode 2, X axle acceleration operating mode 1.Explained that these three factors are to influence main error.
Lathe factor (the U that obtains in the step 5. utilization BP neutral net quantification identification step 4
1,1, U
5,2, U
6,1): for the major influence factors confirming to trace to the source out in the step 4 exposure level to serpentine test specimen normal error, characterize the purpose of principal element to the machine finish influence to reach from value, utilization BP neutral net quantizes identification to it; Set up 3 layers of BP neural network identification model based on MATLAB (abbreviation of Matrix Laboratory is the business mathematics software that U.S. MathWorks company produces), input is some positions of serpentine test specimen, and output is the machine tool accuracy index.Through the training of neutral net substitution sample, training process is constantly adjusted weights and the threshold value that connects between three layers, thereby realizes the normal error of serpentine test specimen and the mapping relations of machine tool accuracy index value.After the trained.The normal error of using certain routine serpentine test specimen profile each point produces corresponding machine tool accuracy index value as new input through the identification of network iteration.
To the lathe factor (U that obtains in the step 4
1,1, U
5,2, U
6,1) result that traces to the source is shown in " factor " in the table 2 one:
Table 2
| Factor | The factor numbering | Approach degree | Influence level |
| Position gain | U 1，1 | 0.6437 | 0.0011 |
| The B axle acceleration | U 5，2 | 0.7161 | 0.6310 |
| X axle acceleration | U 6，1 | 0.7375 | 0.3679 |
Listed each item is the output result of whole lathe factor identification algorithm in the table 2, has comprised three principal elements that this cutting experiment caused material impact, is respectively the B axle acceleration, X axle acceleration, position gain.Wherein the B axle acceleration is bigger to the influence of error, and X axle acceleration takes second place, and the position gain influence is minimum.Three's the level that influences is respectively 63.10%, 36.79%, 0.11%, and therefore secondly preferential adjustment B axle acceleration when adjustment lathe factor is X axle acceleration, is position gain at last.
In the step 5 since BP neutral net and MATLAB be a kind of comparative maturity the mathematical computations instrument, so do not do detailed elaboration for the process of specifically setting up of BP neutral net.
Those of ordinary skill in the art will appreciate that embodiment described here is in order to help reader understanding's principle of the present invention, should to be understood that the protection domain of inventing is not limited to such special statement and embodiment.Every making according to foregoing description variously possible be equal to replacement or change, and all is considered to belong to the protection domain of claim of the present invention.
Claims (3)
1. detect the error identification method of the five-axle number control machine tool of test specimen based on serpentine, comprise the steps:
Step 1. cutting serpentine test specimen;
The normal error of the serpentine test specimen after 1 cutting of step 2. measuring process;
Step 3. is set up the mapping relations database of serpentine test specimen normal error and lathe factor;
Step 4. is traced to the source influences the principal element of machine tool accuracy;
The lathe factor that obtains in the step 5. utilization BP neutral net quantification identification step 4.
2. according to claim 1ly detect the error identification method of the five-axle number control machine tool of test specimen, it is characterized in that the concrete realization of step 3 comprises the steps: based on serpentine
Step 31. adopts transfer function to set up the dynamic error model of Digit Control Machine Tool;
Step 32. utilizes theory of multi body system to set up the mapping relations database of serpentine test specimen normal error and lathe factor.
3. according to claim 1ly detect the error identification method of the five-axle number control machine tool of test specimen, it is characterized in that the concrete realization of step 4 comprises the steps: based on serpentine
Step 41. degree of membership is calculated: to serpentine test specimen error profile result, select the normal fuzzy membership function to calculate, will test cutting error (being the serpentine test specimen normal error that obtains in the step 2) matrix B=(x
1, x
2..., x
n) substitution formula (1) calculates for E
iDegree of membership μ
BSaid formula (1) does
Step 42. approach degree value is calculated: in order to confirm normal error matrix B and E
iSimilarity degree, with the degree of membership μ that calculates
BCalculate corresponding approach degree value in the absolute hamming formula of substitution (2), according to the maximum principle of approach degree, finally tracing to the source out influences the principal element of machine tool accuracy; Said formula (2) does
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| CN111813044A (en) * | 2020-07-25 | 2020-10-23 | 西安交通大学 | Numerical control machine tool dynamic error tracing method based on S test piece machining error |
| CN111813044B (en) * | 2020-07-25 | 2021-05-28 | 西安交通大学 | Numerical control machine tool dynamic error tracing method based on S test piece machining error |
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| CN117020754B (en) * | 2023-10-08 | 2024-02-23 | 成都飞机工业（集团）有限责任公司 | Tool and method for detecting geometric precision of numerical control machining center of flexible production line |
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