CN106815407A - A kind of whole machine dynamic property optimization method of Digit Control Machine Tool - Google Patents
A kind of whole machine dynamic property optimization method of Digit Control Machine Tool Download PDFInfo
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Abstract
The invention discloses a kind of whole dynamics modeling of Digit Control Machine Tool based on joint portion kinetic parameter, Dynamic Performance Analysis and optimization method and embodiment.Methods described is by taking certain model vertical machining centre as an example, kinetic model structure and parameter identification are carried out to bolt joint portion, guide rail slide block joint portion, ball-screw joint portion, bearing combining part, and whole machine dynamic property is analyzed with reference to finite element analysis software, optimization aim is established on this basis, build Model for Multi-Objective Optimization, solve it is optimal distribute rationally, so as to optimize the whole machine dynamic property of Digit Control Machine Tool.Achievement of the present invention can be used to solve Digit Control Machine Tool whole machine dynamic property finite element analysis and optimization problem, for the processing characteristics for improving Digit Control Machine Tool provides technical support.
Description
Technical field
The present invention relates to the whole machine dynamic property design optimizing field of Digit Control Machine Tool, more particularly to based on Digit Control Machine Tool knot
The whole machine finite element modeling and Dynamic performance Optimization method of conjunction portion dynamics.
Background technology
With continuing to develop for advanced manufacturing, modern machine manufacturing industry makes except requiring that lathe is lightweight, low cost
With convenient outer, also require that lathe has processing characteristics more and more high.In general, the processing characteristics mainly processing including lathe
Two importances of quality and stock-removing efficiency.The highest accuracy generally to be reached with part to be processed and surface smoothness come
The crudy of lathe is evaluated, the stock-removing efficiency of lathe is evaluated with the maximum limit of metal-cutting waste or cutting data.Machine
The dynamic property of bed is primarily referred to as the ability of lathe resistance vibration, including vibration resistance and stability, with the processing characteristics of lathe with
Machine dynamic performance is closely related, thus research machine tool structure dynamic property for development high-performance numerical control lathe have it is important
Meaning.
With the development and the lifting of application level of computer hardware technique, the computer emulation of large scale structure is carried out
Have become possibility.In the layout design stage, just the quiet of lathe can be predicted by quantitative analytical calculation with emulation technology
State, dynamic characteristic, so as to carry out necessary effective modification to the timely structural weak link for finding, are greatly improved lathe
The designing quality of product, shortens the machine tool product structure sizing cycle.
Lathe is combined by many parts by specific requirement, and damping, the rigidity of its faying face account for whole respectively
Machine damps 90% and more than 60% with rigidity, therefore adequately vertical machining center carries out whole machine Dynamic Performance Analysis,
Must be based on joint portion kinetic parameter and set up accurately whole dynamics model.The countries such as Japan, Germany, Belgium, Britain
Many scholars all add machine dynamic performance research, the conclusion of research shows：Machine dynamic performance is analyzed using theory method
When, kinetic model influences very big to analysis result, and machine tool joints characteristic incorporates processing method in whole machine model not
Together, result of calculation can also be influenceed.At present, the research of domestic and international machine tool joints is mainly Dynamic Modeling, the parameter of joint portion
The influence of identification and joint portion to machine dynamic characteristics.
S.V.Modak uses finite element method, sets up the FEM model of drilling machine.Faying face is established as spring list first
Unit, next lathe cutter head considers to turn into lumped mass unit, and the measured value based on modal test then is updated into finite element mould
Spring unit parameter in type, so as to obtain more accurately finite element theory model.Japanese scholars Ji Cun permits filial piety using product
Point-score applies to faying face dynamic basis characterisitic parameter in the dynamic analysis of double column vertical lathes, due to considering faying face
Influence, the lathe intrinsic frequency and lathe flutter frequency being calculated is coincide very much with result of the test.
In studies in China, Zhou Dekang is set up including the whole machine lathe FEM model including faying face kinetic model.
M2120A originals lathe dynamically on the basis of test, faying face rigidity and damping parameter is recognized with the method for Optimal Parameters, and right
The main single part of lathe carries out structural dynamic optimization, and using former Machine Tool Joint Surface kinetic model, foundation is more conform with
The whole machine FEM model of M2120A new machines of actual conditions, and carried out whole machine multi-scheme and compare optimization design.Zhang Guangpeng etc.
Whole machine dynamic modeling is carried out to lathe using homogeneous beam, lumped mass and joint portion unit, the dynamic basis based on faying face are special
Property parameter, the kinetics equation of machine system is established using minor structure, and whole machine dynamic property is predicted.Jiang Shuyun etc.
The kinetic model of the line slideway joint portion with ball screw assembly, is set up, machining center of the analysis containing joint portion dynamic parameter is whole
Dynamics.
In terms of optimum of machine tool dynamic behaviour, Sun Mingnan etc. has proposed a kind of machine tool joints dynamic based on Modal Flexibility just
Degree orthogonal optimization method, identifies influence degree of each joint portion to machine dynamic performance, and it is dynamic firm that one group of joint portion is determined
The optimal solution of degree.Wang Yulin etc. permits filial piety method to determine jointing parameters using Ji Cun, is connect using spring-damping element simulation faying face
Characteristic is touched, Static and dynamic performance optimization is carried out to the whole machine of Large-scale thread grinding machine based on faying face, lathe after Complexed Prostate Specific Antigen optimization
Vibration has obtained good suppression.
Take a broad view of current progress both at home and abroad to be understood with achievement, in the whole machine dynamic property optimization design field of Digit Control Machine Tool still
There are following obvious and urgently to be resolved hurrily technological difficulties：(1) lathe is not accounted for during complete machine tool Dynamic Modeling
The influence of middle whole joint portion characteristics, is generally only to have incorporated fixing combination portion, feed screw nut joint portion, bearing combining part and led
One or more in rail joint portion, therefore be difficult to obtain precision Machine Tool Dynamics model very high, and set up machine power
The method for learning model lacks versatility.(2) it is generally only from lathe when comparing whole machine Finite element analysis results and result of the test
Intrinsic frequency whether unanimously judge the correctness of whole machine modeling, be so also not enough to the whole dynamics model for determining to set up
It is whether correct.(3) joint portion dynamics is more complicated, for machine tool joints parameter in whole machine Dynamic performance Optimization
Research method is relatively fewer.
The content of the invention
The difficult point of the state of the art and presence for the whole machine Dynamic performance Optimization of above-mentioned Digit Control Machine Tool, the purpose of the present invention exists
In a kind of whole machine dynamic property optimization method of Digit Control Machine Tool based on machine tool joints kinetic parameter is proposed, to realize to numerical control
The finite element analysis of complete machine tool dynamic property and optimization, further improve the processing characteristics of Digit Control Machine Tool.
The whole machine dynamic property optimization method of Digit Control Machine Tool proposed by the present invention, its substance is by obtaining spiral shell in lathe
The kinetic parameter of bolt joint portion, guide rail slide block joint portion, ball-screw joint portion and bearing combining part, sets up Digit Control Machine Tool
Whole machine FEM model.On the basis of whole machine FEM model accuracy is verified, made with the frequency response function of main-axis end
To weigh the index of whole machine dynamic property.The thin of lathe is determined with the relation of main-axis end frequency response function based on Modal Flexibility
Weak mode, the weak joint portion under weak mode is determined with reference to elastic energy distribution theory, is set up with the Modal Flexibility of weak mode
It is optimization aim, the rigidity of weak joint portion is the Model for Multi-Objective Optimization of design variable.In optimization process, using orthogonal examination
Table planning experiments scheme is tested, similar priority method is introduced when result of the test is processed using range analysis and is converted multiple-objection optimization
It is single object optimization.Finally, the allocation optimum scheme of the joint portion rigidity for range analysis being obtained is loaded into FEM model
Model analysis and harmonic responding analysis are carried out, whole machine intrinsic frequency is improved after optimization, main-axis end frequency response function amplitude
It is reduced, demonstrates the validity of the Optimal Configuration Method based on joint portion dynamic stiffness of proposition.The optimization method can be true
Fixed each joint portion dynamic stiffness obtains the allocation optimum scheme of joint portion dynamic stiffness to the influence degree of machine dynamic performance, is machine
The selection that bed joint portion structure design and lathe producer externally purchase part provides technical support.
The whole machine dynamic property optimization method of numerical control proposed by the present invention, specifically includes herein below.
(1) joint portion equivalent characteristic：Shown that energy can be stored and the characteristic of energy consumed energy according to joint portion, will tied
Conjunction portion contact performance is equivalent to spring-damper system.Therefore jointing parameters identification obtains equivalent stiffness and the resistance of joint portion
Buddhist nun system.
(2) bolt joint portion dynamic parameters identification：According to substructure synthesis method, bolt joint portion dynamics ginseng is derived
The basic identification formula of several four：
Wherein, P=Kc+jωCc, KcWith CcRepresent the equivalent ct clamping coefficient of joint portion, the joint portion that P is included
Information is exactly the equivalent contact stiffness in joint portion to be identified and contact damping coefficient；HnnRepresent minor structure non-bonded portion Area Node
Between frequency response function, Hnc(or Hcn) represent frequency between minor structure non-bonded portion Area Node and area of joinder node
Rate receptance function, HccRepresent minor structure area of joinder node between frequency response function,Represent bolts assemblies body structure
Frequency response function between non-bonded portion Area Node,Represent bolts assemblies body structure non-bonded portion region section
Point and area of joinder node between frequency response function,Between representing bolts assemblies body structure area of joinder node
Frequency response function.
The frequency response letter that directly cannot be obtained by experimental test in above-mentioned formula is further derived on this basis
NumberComputing formula.
Simultaneous formula (4) and formula (6)
Simultaneous formula (5) and formula (7)
Summary formula (4)~(9) and frequency response function measured directly, can construct identification joint portion kinetic parameter
Complete frequency response function, you can be calculated the equivalent contact stiffness of bolt joint portion and contact damping coefficient.
(3) guide rail slide block joint portion dynamic parameters identification：The intrinsic frequency of guide rail slide block structure is obtained using modal test
The experiment value of rate and Mode Shape, and set up the FEM model of structure and realize model analysis, by reducing experiment value and emulation
The error of value obtains joint portion rigidity and damped coefficient.Error calculation formula is as follows：
WhereinWithIt is N ranks intrinsic frequency calculated value and test value before joint portion,WithIt is N ranks damping before joint portion
The calculated value and test value of ratio, ε1、ε2It is convergence residual error.
(4) ball-screw joint portion dynamic parameters identification：Because ball-screw joint portion mainly undertakes axle in lathe
To load, therefore only consider its axial rigidity, its concrete numerical value can consult product manual.
(5) bearing combining part dynamic parameters identification：Its axially and radially rigidity is obtained by consulting product manual.
(6) whole dynamics modeling：The whole machine CAD model of Digit Control Machine Tool is set up, is imported in finite element analysis software ANSYS.
By the rigidity and damping value of each joint portion acquired in step (2)~(5) by the combin14 units in ANSYS and
The units of matrix 27 are loaded into corresponding joint portion in FEM model, set up the whole machine FEM model of Digit Control Machine Tool.
(7) whole machine Dynamic Performance Analysis：For the complete machine tool FEM model that step (6) is set up, mode is carried out to it
Analysis and harmonic responding analysis, obtain whole machine intrinsic frequency, Mode Shape and main-axis end frequency response function.
(8) whole machine FEM model checking：Whole machine intrinsic frequency and main-axis end are obtained frequently using hammering method modal test
Rate receptance function, the accuracy of whole machine FEM model is verified by contrast experiment's value and the simulation value of step (7) acquisition.
(9) whole machine dynamic property optimization method：Using tri- frequency response functions in direction of main-axis end X, Y, Z as weighing apparatus
The index of whole machine dynamic property is measured, is set up with respectively mainly in combination with the rigidity in portion with reference to the theoretical and elastic energy distribution theory of Modal Flexibility
Used as design variable, the Modal Flexibility of weak mode is the Model for Multi-Objective Optimization of optimization aim.
In above-mentioned technical proposal of the invention, dynamics ginseng identification in the guide rail slide block joint portion is needed in Matlab
Write the optimal control program that interacting operation can be realized with ANSYS.Matlab calls ANSYS automatically, and by equivalent contact stiffness
ANSYS is passed to damped coefficient iterative initial value.After ANSYS analyses are finished, result is fed back to by Matlab by APDL orders
In loop control program.With this flow automatic Iterative until reaching the condition of convergence of requirement.
In above-mentioned technical proposal of the invention, described bolt joint portion dynamics ginseng identification needs design and lathe to treat
Identification bolt joint portion contact material, contact face pressure, roughness identical beam-beam bolt assembly test structure, first against
Test structure is combined portion's dynamic parameters identification, then according to the contact of test structure and lathe bolt joint portion to be identified
Area relationship calculates the equivalent contact stiffness and contact damping coefficient of lathe bolt joint portion to be identified.
In above-mentioned technical proposal of the invention, described whole machine dynamic property optimization method is carried out in the following manner.
(1) damping for assuming machine tool structure is proportional damping, and the modal theory according to vibration derives excitation point and response
Frequency response function expression formula between point.Analysis dynamic flexibility and Modal Flexibility, the relation of quiet flexibility, will obtain less dynamic flexibility,
Each rank Modal Flexibility is as far as possible small.Research points out that the Modal Flexibility a few rank mode larger with quiet flexibility ratio determine the dynamic of system
State property energy, is the weak mode of lathe.Be can obtain by calculating quiet flexibility, each rank Modal Flexibility and ratio between the two
The weak mode of machine tool structure, therefore to reduce the Modal Flexibility (f of each rank weakness modeab)rAs optimization aim.
(2) the elasticity energy distributive law of each joint portion under weak mode is calculated according to elasticity energy distribution theory, can be divided with elastic
Cloth rate rigidity k in joint portion higheriAs design variable.
(3) Model for Multi-Objective Optimization is set up with reference to step (1) and step (2)：
K={ K1k2…ki…kn}T(i=1,2 ..., n)
V-min F (k)=min [(fab)1(fab)2…(fab)i…(fab)n]
s.t.kmin≤ki≤kmax(i=1,2 ..., n)
Wherein Aa (r)、Ab (r)The relative amplitude of a, b point-to-point transmission when respectively lathe is with r rank natural frequency vibrations；KrIt is r ranks
The modal stiffness of mode.
(4) use orthogonal experiment design method planning experiments scheme, according to result of the test obtain excellent level, excellent combination and
Each factor influences primary and secondary.
(5) model analysis will be carried out in the optimum combination write-in FEM model of each joint portion rigidity, will compare optimization front and rear
Weak rank Modal Flexibility and main-axis end Modal Flexibility.
In further technical scheme of the invention, the orthogonal experiment design method includes.
(1) using the Modal Flexibility of each weak mode as experiment performance assessment criteria, each weak joint portion rigidity as experiment because
Element, the rigidity value that each joint portion can be chosen is used as test level.
(2) according to experimental factor and horizontally selected orthogonal arrage planning experiments scheme, calculate per each rank weakness mould under prescription case
The Modal Flexibility simulation value of state.
(3) introduce similar priority method and multiple-objection optimization is converted into single object optimization, cooperate with treatment to try with range analysis
Result is tested, the optimal solution of joint portion dynamic stiffness configuration is obtained.
In further technical scheme of the invention, described similar priority method can be pressed with range analysis synergy
The mode of stating is carried out.
(1) using every group of result of the test in orthogonal arrage as effective solution F of multiple-objection optimization*。
(2) with result of the test, per rank, the Modal Flexibility minimum value of weakness mode is constituted the ideal solution F of multiple target；With orthogonal
In table every group of result of the test as multiple-objection optimization effective solution F*。
(3) similar priority is calculated, the similar priority matrix M of the weakness mode per rank is builtr。
(4) arrange parameter λ (0≤λ≤1), takes Mrλ Level Matrix M=(rij)n×n, wherein,
(5) the corresponding first priority sequence number N of Modal Flexibility of each rank weakness mode in total Test group is calculatedrk, will be orthogonal
Often capable N in tablerkAddition obtains comprehensive first priority sequence number Nk。
(6) using the comprehensive first priority sequence number N in step (5)kRange analysis is carried out instead of every group of result of the test：
Ri=max (pi1..., pij..., pin)-min(pi1..., pij..., pin) (13)
Wherein RiIt is extreme difference value, pijIt is the arithmetic average of obtained experimental result when the i-th row factor takes respective horizontal j in orthogonal arrage
Value.
The present invention is the difficulty for overcoming the whole machine finite element modeling of Digit Control Machine Tool, improves whole machine dynamic property and is made that following tribute
Offer.
(1) consider the influence of whole joint portions characteristic in lathe, carry out bolt joint portion, guide rail slide block joint portion, rolling
Ballscrew joint portion, bearing combining part Dynamic Modeling and joint portion dynamic parameters identification, there is provided complete general numerical control
Complete machine tool finite element builds the method for touching.
(2) it is soft based on mode using main-axis end frequency response function as the index for weighing Digit Control Machine Tool dynamic property
Degree and elasticity energy distribution theory, establish with weak joint portion rigidity as design variable, and the Modal Flexibility of weak mode is optimization
The Model for Multi-Objective Optimization of target, specifies the optimization direction of machine tool structure.
(3) made rational planning for testing program using orthogonal test method in optimization process, introduced in test result analysis
Similar priority method carries out collaboration and distributes rationally to joint portion dynamic stiffness, and multiple-objection optimization is switched into single object optimization, improves excellent
Change computational efficiency.Analyzed by orthogonal experiments and can determine that influence degree of each joint portion dynamic stiffness to machine dynamic performance,
Obtain the allocation optimum scheme of joint portion dynamic stiffness.
(4) the whole machine dynamic property of Digit Control Machine Tool is significantly improved.By taking experimental prototype as an example, using numerical control proposed by the present invention
Complete machine tool Dynamic performance Optimization method, main-axis end frequency response function is substantially reduced, and effect of optimization is as shown in Figure 9.
(5) analysis influence of the machine tool joints rigidity to whole machine dynamic property is machine tool joints Optimal Structure Designing with
And lathe producer externally purchases the selection of part there is provided technical support.
Brief description of the drawings
Fig. 1 is column-lathe bed bolt joint portion model and its equivalent test structural representation.
Fig. 2 is column-lathe bed bolt joint portion dynamic test point layout scheme schematic diagram.
Fig. 3 is guide rail slide block FEM model schematic diagram.
Fig. 4 is guide rail slide block experiment point layout scheme schematic diagram.
Fig. 5 is the whole machine FEM model schematic diagram of Digit Control Machine Tool.
Fig. 6 is main shaft of numerical control machine tool shaft end X, Y, the experiment of Z-direction frequency response function and simulation curve contrast schematic diagram.
Fig. 7 is the whole machine dynamic property Optimizing Flow schematic diagram of Digit Control Machine Tool.
Fig. 8 is main-axis end frequency response function schematic diagram after Digit Control Machine Tool optimization.
Specific embodiment
In order to it is clearer understand the present invention, below to invent detailed content and with reference to accompanying drawing and inventor Yi Benfa
The example that bright technical scheme is completed is discussed in further detail to the present invention.
Bolt joint portion dynamic parameters identification
The distribution of spring-damping element is determined by the number of bolt, the model of bolt and faying face area between bolt-connection faying face
It is fixed.Column-lathe bed joint portion is used as crucial bolt joint portion in machine tool structure, as a example by it, joint portion dynamic parameters identification
Flow is as follows.
1. equivalent bolt arrangement is built
Machine tool structure medial bed-upstanding studs joint portion is as shown in figure 1, the symmetrical 3 M20 bolts in both sides, Bolt Tightening Force
Square is 500Nm.Joint portion contacts face pressure and is calculated as 13.56Mpa according to formula (14), and joint portion material is cast iron, roughness
It is 1.6 μm.
Set up the equivalent bolt arrangement equal with lathe bed-upstanding studs joint portion contact situation shown in Fig. 1, minor structure A
With the girder construction that minor structure B is 350 ' 10 ' 30mm, between the two using a M12 bolts assemblies, the torque applied during assembling
It is 22.56Nm, table 1 lists the corresponding material properties parameter of minor structure A, minor structure B.
The minor structure material properties parameter of table 1.
| Minor structure | Material | Poisson's ratio | Roughness | ||
| A | Cast iron | 130 | 7350 | 0.3 | 1.6 |
| B | Cast iron | 130 | 7350 | 0.3 | 1.6 |
2. equivalent bolt arrangement Free Modal experiment
Minor structure and bolts assemblies structure are suspended in elastic threads with the free boundary needed for guarantee test during experiment.Hitch point
Position can be determined by the node location of the first rank mode of flexural vibration in the model analysis simulation result of structure to be tested.Measuring point during experiment
Arrangement is as shown in Fig. 2 minor structure A, B surface are respectively arranged four measuring points in figure, and ensure to carry out the Free Modal of assembling structure
Its point position keeps constant during experiment.Point 4 and area of joinder of the point 5 in bolts assemblies structure, their frequency response
Function is difficult to by testing direct access.Hammering method modal test, experiment concern frequency are carried out using LMS vibration and noise tests system
Rate scope is 0~3000Hz, and 1025 frequency sampling points are set altogether.Swashed along the z-axis negative direction shown in Fig. 2 using power hammer during experiment
Encourage, arrange that two acceleration transducers pick up normal direction (Z-direction) and responded with tangential (Y-direction) translation in corresponding measuring point.
Experiment follows the testing procedure of first minor structure rear bolt assembling structure, is hammered into shape by locomotivity and acceleration transducer is protected
Card obtains the origin frequency response function and crosspoint frequency response function of each measuring point.Testing ground arranges as shown in figure 3, examination
Test is carried out according to following flow.
(1) minor structure freely hammers modal test
Sub-structural test is carried out according to the measuring point sequence number that Fig. 2 is marked by 1 to 8 order, and two velocity sensors will be added to paste first
In the normal direction and tangential position of point 1,5 hammerings are carried out in each point position, then locomotivity hammer is in next point position
Apply excitation.Treat that all measuring points complete that sensor is sequentially moved into next measuring point again after wheel hammering, according still further to upper
The hammer hammering of method locomotivity is stated, above procedure is repeated until acceleration transducer has covered all measuring points.
(2) bolts assemblies structure freely hammers modal test
After minor structure is dynamically completed, being assembled to form combining structure using threaded fastener and torque spanner is carried out
Dynamic test.Test method is hammered into shape and acceleration transducer as minor structure according to measuring point order successively locomotivity.Assembling structure
Middle measuring point 4 and measuring point 5 are located at bolt area of joinder, are difficult to directly apply to encourage and pick up response during experiment, therefore in experiment
During should try one's best power hammer with acceleration transducer near point position.The frequency response of the measuring point 4,5 for obtaining is tested simultaneously
Function is not used in the identification of joint portion dynamic characteristic parameter, is served only for evaluating based on incomplete frequency response function identification formula meter
The validity of the area of joinder nodal frequency receptance function for obtaining.
3. equivalent structure bolt jointing parameters identification
According to the incomplete frequency response function that formula (8) and (9) and experiment are obtained, the frequency response function meter of measuring point 4,5
Calculate as shown in formula (15) and (16),
The equivalent bolt arrangement joint portion contact stiffness and contact damping for being obtained according to formula (4)~(7) identification on this basis
Coefficient is 7.8 ' 107N/m、2741N·s/m.Further according to equivalent bolt arrangement and lathe bed-upstanding studs joint portion faying face contact
Relation between area calculates equivalent contact stiffness and the contact damping system of vertical machining center lathe bed-upstanding studs joint portion
Number is 4.9 ' 1010N/m、1.1′106N·s/m。
Guide rail slide block jointing parameters are recognized
Based on modal parameter, effective distinguishing is carried out to the equivalent ct clamping coefficient of guiding rail joint portion using thought is optimized
Know.
(1) guide rail slide block joint portion FEM model as shown in Figure 3 is set up in ANSYS, spring-damping element mould is used
Intend the contact performance between sliding block and rolling guide joint.Sliding block overall length 72mm, on the basis of face A in Fig. 3, one group is set up every 24mm
Spring-damping element, is evenly arranged in before, during and after sliding block on three sections.Each section is divided into 4 spring-damping elements of cloth,
Its position is respectively perpendicular to guide rail slide block and equivalent dynamic from the horizontal by 45 ° of angles according to sliding block ball and guide rail contact form
Mechanical model is as shown in Figure 4.
(2) excitation is chosen in experiment, and the metering system of single-point response, 45 excitation points shown in common layout drawing 4 accelerate
Degree sensor is arranged at Fig. 4 midpoints 9.Point 9 had both been response pickup point, was also all excitation point.When row energization is entered at 9 points, exciting
Power hammer is close proximity to point 9.The test value of 4 rank intrinsic frequencies and damping ratio before joint portion is obtained by modal test.
(3) change the spring-damping element value set in step (1) automatically by Matlab, then carry out model analysis,
Obtain the simulation value of 4 rank intrinsic frequencies and damping ratio before joint portion.
Compare the test value and simulation value of 4 rank intrinsic frequencies and damping ratio before joint portion, the slide block guide rail faying face of identification
Equivalent contact stiffness and contact damping coefficient are respectively 5.83108N/m、5143N·s/m.Table 2 and table 3 be respectively intrinsic frequency,
The comparative result of damping ratio test value and simulation value, within 5%, the error of damping ratio exists the error of intrinsic frequency in table
Within 4.5%, show that the FEM model set up relatively accurately reflects the dynamics of guide rail slide block joint portion.
The joint portion intrinsic frequency test value of table 2 and simulation value are contrasted.
| 1 | 2 | 3 | 4 | |
| Test value | 983.8 | 3015.7 | 3393.2 | 3555.5 |
| 982.4 | 3017.3 | 3586.2 | 3634.9 | |
| Error (%) | 0.14 | 0.05 | 4.78 | 1.4 |
The joint portion damping ratio test value of table 3 and simulation value are contrasted.
| 1 | 2 | 3 | 4 | |
| Test value (%) | 1.52 | 1.39 | 1.79 | 1.67 |
| Simulation value (%) | 1.53 | 1.42 | 1.78 | 1.60 |
| Error (%) | 0.65 | 2.16 | 0.56 | 4.19 |
Complete machine tool finite element modeling
The axial rigidity and the radially, axially rigidity of bearing combining part of the ball-screw joint portion consulted by product manual, knot
The bolt joint portion that conjunction has been recognized and the joint portion kinetic parameter of guide rail slide block joint portion, set up Fig. 5 in finite element software
Shown complete machine tool FEM model.724537 units are divided using the vertical machining center of Solid45 units altogether, is adopted altogether
Faying face contact performance is simulated with 28 Matrix27 and 144 Combin14 spring-damping elements.
Complete machine tool Dynamic Performance Analysis
Machine dynamic performance analysis includes model analysis and harmonic responding analysis.
Model analysis：According to the actual boundary condition of lathe to be tested, the applying of lathe bed bottom is fixed about in ANSYS
Beam, constrains the free degree of its six direction.40 rank mode before whole machine is only solved in the finite element software, obtain the preceding intrinsic frequency of 40 rank
Rate and Mode Shape.
Whole machine harmonic responding analysis：The frequency response function of main-axis end is the important indicator of lathe vibration resistance, is also identification
The frequency response function of main-axis end is studied in the basic data that lathe cuts without flutter, therefore whole machine harmonic responding analysis.
It is dynamic in major concern 0-600Hz frequency ranges according to vertical machining centre normal revolution scope and number of teeth
Force-responsive.It is 1 to apply amplitude respectively along X, Y, Z-direction in main-axis end, and excited frequency is the simple harmonic quantity power of 0-600Hz, obtains Fig. 6 institutes
The acceleration amplitude-frequency response of main-axis end X, Y, Z three-dimensional shown.
Complete machine tool FEM model is verified
To verify the accuracy of whole machine FEM model, based on LMS vibration and noise test systems, hammering method is carried out to complete machine tool
Modal test, obtains main-axis end origin frequency response function.Experiment hammers exciting into shape using power, is picked up by ICP types acceleration transducer
Vibration signal, LMS systems carry out the origin frequency response function that signal transacting obtains main-axis end, the origin frequency response that experiment is measured
Function curve is as shown in Figure 6.
Compare the frequency response function curve of X, Y, Z-direction, result of the test and simulation result variation tendency are close, crest value frequency pair
Should be preferable, the accuracy of the FEM model is demonstrated, it is that follow-up whole machine dynamic property prediction and Optimal Structure Designing are established
Basis.
Complete machine tool Dynamic performance Optimization
Whole machine Dynamic performance Optimization specific implementation is carried out in the following manner, and Fig. 7 is optimization process sketch.
(1) based on the theoretical determination optimization aim of Modal Flexibility
Modal Analysis are carried out by ANSYS and static analysis obtains main-axis end X, Y, each rank Modal Flexibility of Z-direction and quiet
Flexibility.The ratio of each rank Modal Flexibility and quiet flexibility is calculated, following table lists the weaker mode of X, Y, Z-direction ratio more than 9%,
Minimum Modal Flexibility with this 6 rank weakness mode correspondence direction is as optimization aim.
(2) design variable is determined based on elastic energy distribution theory
Model analysis vibration shape result display lathe bed, saddle, workbench vibration it is fainter, therefore only for main shaft-column system
Each joint portion of system is dynamic just to distribute rationally.Calculate main shaft bearing joint portion, Z-direction guide rail slide block joint portion, the combination of Z-direction ball-screw
Portion and the elasticity energy distributive law of column-lathe bed joint portion, following table list result of calculation.
With it is elastic can distributive law dynamic stiffness k in main shaft bearing joint portion higher1, Z-direction guide rail slide block joint portion dynamic stiffness k2、
Column-lathe bed bolt joint portion dynamic stiffness k3As design variable, with 2,3,7,8,10,27 ranks weakness mode respective direction most
Small Modal Flexibility is target, sets up Model for Multi-Objective Optimization.
Table 4 is each to weak mode.
| Direction | Modal Flexibility ratio (%) | ||
| 2 | X | 8.2 | 27.3 |
| 3 | Y | 6.56 | 16.0 |
| 7 | Y | 9.41 | 22.7 |
| 27 | Y | 4.94 | 12.0 |
| 2 | Z | 9.74 | 29.5 |
| 8 | Z | 8.79 | 26.6 |
| 10 | Z | 3.03 | 9.18 |
The elasticity of table 5 can distributive law result of calculation.
(3) joint portion dynamic stiffness optimization of orthogonal test configuration
Part (main shaft, line slideway) is externally purchased according to this machine tool joints kinetic parameter achievement in research and lathe producer
Selection is required, it is determined that 3 level values of each joint portion dynamic stiffness.
Table is the factor level table of orthogonal test, the axial direction of main shaft bearing joint portion, radial rigidity as an experiment because
Element, normal direction, the shear stiffness of column-lathe bed joint portion are used as an experimental factor.
The orthogonal test factor level table of table 6
Based on factor and horizontal number, using orthogonal test table L9(34) orthogonal test table shown in table 6 is set up, plan 9 times altogether
Experiment, the Modal Flexibility of weak mode is calculated with reference to ANYS analysis results in MATLAB.
In test result analysis, with reference to the allocation optimum scheme of similar priority method Cooperative Solving joint portion dynamic stiffness.
Effective solution and ideal solution of Model for Multi-Objective Optimization are built first, calculate corresponding similar priority rrst, set up similar priority
Matrix Mr.Make the Level Matrix of Mr with λ=0.5, calculate the first priority sequence number N of each rank Modal FlexibilityrkAnd each rank under every group of experiment
The corresponding first priority sequence number of Modal Flexibility and Nk。
With the first priority sequence number and N of every group of experimentkAs the result of the test of orthogonal test, calculated by formula (13)
Range analysis result shown in table 7.From range analysis result, main shaft bearing joint portion dynamic stiffness is to machine dynamic performance
Most significantly, column-lathe bed bolt joint portion dynamic stiffness influences minimum to machine dynamic performance, and joint portion dynamic stiffness is optimal to match somebody with somebody for influence
Scheme is put for (k1)3(k2)3(k3)3。
The range analysis result of table 7.
(4) the optimum results analysis of allocation optimum scheme
Model analysis will be carried out in the dynamic stiffness value write-in FEM model of each joint portion in allocation optimum scheme, calculate weak mould
The Modal Flexibility of state, table 8 lists the Modal Flexibility and intrinsic frequency before and after distributing rationally.
The 2nd rank X is to, the 8th, 10 rank Z-directions in table 8, the Modal Flexibility of the 27th rank Y-direction have dropped 10.4% respectively, 16.0%,
16.5%th, 10.5%, effect of optimization is more apparent；2nd rank Z-direction, the Modal Flexibility of the 3rd, 7 rank Y-directions have dropped 4.41% respectively,
1.98%th, 4.04%.
The corresponding intrinsic frequency of weak mode is improved, wherein the 2nd rank intrinsic frequency is improved reaches 7.39%.
Fig. 8 provides main-axis end frequency response function, the optimization forward spindle shaft end frequency response shown in comparison diagram 6 after optimization
Schematic diagram, response amplitude is significantly reduced.
Result is understood after complex optimum, and joint portion dynamic stiffness is configured using optimization of orthogonal test, can effectively reduce weak mould
The Modal Flexibility of state, so as to reduce the dynamic flexibility of lathe, improves machine dynamic performance.
Table 8 distributes front and rear Modal Flexibility and intrinsic frequency rationally
Claims (8)
1. a kind of whole machine dynamic property optimization method of Digit Control Machine Tool, its feature includes：
（1）Joint portion characteristic is equivalent：Digit Control Machine Tool joint portion contact performance is equivalent to spring-damper system；
（2）Bolt joint portion dynamic parameters identification：Propose a kind of joint portion power based on incomplete frequency response function
Parameter identification method is learned, the kinetic model of bolt joint portion is set up based on minor structure thought, and derive that identification joint portion is moved
The basic identification formula of mechanics parameter and the complete frequency response function of construction；
（3）Guide rail slide block joint portion dynamic parameters identification：A kind of straight line based on experimental study and simulation study is proposed to lead
Rail joint portion kinetic parameter Optimal Identification method, set up with joint portion kinetic parameter as design variable, finite element analysis with
Each rank intrinsic frequency and damping ratio error that modal test is obtained are the Mathematical Modeling of optimization aim；
（4）Ball-screw joint portion dynamic parameters identification：Consult product manual and obtain ball-screw joint portion axial rigidity；
（5）Bearing combining part parameter identification：Consult product manual and obtain bearing combining part axial rigidity and radial rigidity；
（6）Whole dynamics modeling：Using finite element analysis software, with reference to machine tool element FEM model and step（2）、
（3）、（4）、（5）Each joint portion dynamic parameter value of middle acquisition（Equivalent stiffness and damped coefficient）, set up the whole machine of Digit Control Machine Tool
FEM model；
（7）Whole machine Dynamic Performance Analysis：The harmonious sound of model analysis is carried out to the complete machine tool FEM model that step (6) is set up
Should analyze, obtain whole machine intrinsic frequency, Mode Shape and main-axis end frequency response function；
（8）Whole machine FEM model checking：Whole machine intrinsic frequency is obtained using hammering method modal test and main-axis end frequency is rung
Function is answered, is worth by contrast experiment and step（7）The simulation value of acquisition verifies the accuracy of whole machine FEM model；
（9）Whole machine dynamic property optimization method：Using the frequency response function of main-axis end as evaluate vertical machining centre dynamic
The important indicator of performance, proposes the Optimal Configuration Method towards each typical combination portion dynamic stiffness of vertical machining centre, with reference to mode
Flexibility theorem is theoretical with Energy distribution to determine weak mode and weak joint portion, sets up with weak knot under main-axis end weakness mode
The dynamic stiffness in conjunction portion is design variable, and the Modal Flexibility of weak mode is the Model for Multi-Objective Optimization of optimization aim.
2. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 1, it is characterised in that described bolt knot
Conjunction portion dynamic parameters identification cannot directly enter Mobile state in the beam-equivalent lathe of beam bolt assembly test structure using design
The bolt joint portion of experiment, jointing parameters Research on Identification is launched for equivalent structure, to be identified with lathe according to equivalent structure
Bolt joint portion kinetic parameter relation, is calculated lathe bolt joint portion kinetic parameter to be identified.
3. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 1, it is characterised in that described guide rail is slided
Block joint portion dynamic parameters identification writes optimal control program and realizes being interacted with finite element software using numerical analysis software
Computing.
4. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 1, it is characterised in that the whole motor-driven state
Performance optimization method includes：
（1）Assuming that the damping of machine tool structure is proportional damping, the modal theory according to vibration determines the weak mode of machine tool structure,
With reduce each rank weakness mode Modal Flexibility (f ab ) r As optimization aim；
（2）The elasticity energy distributive law of each joint portion under weak mode is calculated according to elasticity energy distribution theory, can distributive law with elasticity
Joint portion rigidity higherk i As design variable；
（3）With reference to step（1）And step（2）Set up Model for Multi-Objective Optimization：
WhereinA a (r)、A b (r)Respectively lathe is withrDuring rank natural frequency vibrationa、bThe relative amplitude of point-to-point transmission；K r It isrRank
The modal stiffness of mode；
（4）Using orthogonal experiment design method planning experiments scheme, experimental factor and level are determined, obtain excellent according to result of the test
Level, excellent combination and each factor influence primary and secondary；
（5）Model analysis will be carried out in the optimum combination write-in FEM model of each joint portion rigidity, compare weakness before and after optimization
Rank Modal Flexibility.
5. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 4, it is characterised in that use modal theory
With elastic energy distribution theory, the weak mode of machine tool structure and weak joint portion can be effectively determined, specify structure optimization direction.
6. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 4, it is characterised in that Orthogonal Experiment and Design
Method includes：
（1）Using the Modal Flexibility of each weak mode as experiment performance assessment criteria, each weak joint portion rigidity as experimental factor, often
The rigidity value that individual joint portion can be chosen is used as test level；
（2）According to experimental factor and horizontally selected orthogonal arrage planning experiments scheme, calculate per each rank weakness mode under prescription case
Modal Flexibility simulation value；
（3）Result of the test is processed with reference to similar priority method and range analysis, the optimal solution of joint portion dynamic stiffness configuration is obtained.
7. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 6, it is characterised in that described is similar excellent
First carried out by following mode with range analysis synergy than method：
（1）Effective solution of every group using in the orthogonal arrage result of the test as multiple-objection optimizationF *；
（2）With in result of the test, per rank, the Modal Flexibility minimum value of weakness mode is constituted the ideal solution of multiple targetF；With in orthogonal arrage
Every group of result of the test as multiple-objection optimization effective solutionF *；
（3）Similar priority is calculated, the similar priority matrix of the weakness mode per rank is builtM r ；
（4）Arrange parameter, takeM r 'sLevel Matrix, wherein,
（5）Calculate the corresponding first priority sequence number of Modal Flexibility of each rank weakness mode in total Test groupN rk , by the institute of every row
HaveN rk Value addition obtains comprehensive first priority sequence numberN k ；
（6）Using step（5）InN k Range analysis is carried out instead of every group of result of the test：
WhereinR i It is extreme difference value,p ij It is in orthogonal arrageiRow factor takes respective horizontaljWhen obtained experimental result arithmetic average
Value.
8. the whole machine dynamic property optimization method of Digit Control Machine Tool according to claim 6, it is characterised in that similar priority method
And multiple-objection optimization is converted into single object optimization by the combination of range analysis.
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