CN109597352A - Numerically-controlled machine tool and its control system and method - Google Patents
Numerically-controlled machine tool and its control system and method Download PDFInfo
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- CN109597352A CN109597352A CN201710944310.2A CN201710944310A CN109597352A CN 109597352 A CN109597352 A CN 109597352A CN 201710944310 A CN201710944310 A CN 201710944310A CN 109597352 A CN109597352 A CN 109597352A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37431—Temperature
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45136—Turning, lathe
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49169—Compensation for temperature, bending of tool
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49206—Compensation temperature, thermal displacement, use measured temperature
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49219—Compensation temperature, thermal displacement
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- Manufacturing & Machinery (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Automatic Control Of Machine Tools (AREA)
Abstract
The present invention provides a kind of control method that the industrial host by numerically-controlled machine tool is realized, the CNC machine further includes machine tool controller, cutter for cutting workpiece and the main shaft that is connect with the cutter, the main shaft built-in motor, the control method include: at least one running parameter that the numerically-controlled machine tool is obtained from the machine tool controller；At least one running parameter according to acquisition determines the temperature distribution information of the main shaft；According to the temperature distribution information of determined main shaft, the deflection of the main shaft is calculated；The driving amount of feeding of the cutter is adjusted to control the machine tool controller according to the deflection of main shaft calculated to machine tool controller transmission control command.The present invention therefore improves the accuracy of calculating by using the deflection of the finite element model analysis main shaft of emulation main shaft.
Description
Background technique
With the development of numerically-controlled machine tool (Computer Numerical Control, CNC) technology, numerically-controlled machine tool can add
Work goes out more and more accurate component.And the precision of this precise part obviously proposes the control errors of the cutter drives amount of feeding
Requirements at the higher level, and the spindle deformation due to caused by fever is that tool feeding amount is caused to miss to main shaft of numerical control machine tool in process
One key factor of difference.Therefore in numerically-controlled machine tool, this driving feeding due to spindle deformation to cutter is usually eliminated
The influence of amount.
In the conventional technology, usually using sensor come actually detected main shaft of numerical control machine tool the degree of heat, usually these
Sensor is mounted on numerically-controlled machine tool, is detected outside main shaft to main shaft temperature, or is directly existed by main shaft manufacturer
Temperature sensor is embedded in main shaft, the industrial host thus connecting with numerically-controlled machine tool can be in the process of controller of digital controlled machine tool
In directly read the main shaft temperature of sensor measurement in the main shaft, and the deformation of main shaft is estimated according to the main shaft temperature of actual measurement
Amount, thus the covert driving amount of feeding measured to determine cutter of the main shaft obtained according to estimation.
Although the Correction Problemss of spindle deformation can be well solved using temperature sensor, in some environments simultaneously
It is unsuitable for the use of sensor.Such as cutting clast or cutting fluid may corrosion sensor line, or even influence sensing
The detecting element of device, therefore frequently result in sensor and can not work normally.
Summary of the invention
Present invention contemplates that a kind of improved numerically-controlled machine tool and its control system are proposed, without in numerically-controlled machine tool processing part
Pass through the temperature of sensor measurement main shaft of numerical control machine tool in the process, and then avoids due to sensor abnormality and temperature is caused to measure
Inaccuracy, the problem for driving the amount of feeding inaccurate of cutter.
Inventor is through a large number of experiments and research, it was found that the operating parameter of numerically-controlled machine tool and the Temperature Distribution of main shaft it
Between relationship.To determine the temperature distribution parameter of main shaft according to the operating parameter of numerically-controlled machine tool, and then according to determining temperature
The deflection of main shaft, the final driving amount of feeding for determining cutter is calculated in degree distribution parameter.Efficiently avoid sensor temperature
The inaccurate problem of the cutter drives amount of feeding caused by degree measurement inaccuracy.The Accurate Prediction to main shaft temperature is realized, it can
So that numerically-controlled machine tool has wider application environment.
According to one aspect of the present invention, a kind of control method of numerically-controlled machine tool is provided, which further includes one
Machine tool controller, one is used for the cutter and a main shaft connecting with the cutter of cutting workpiece, one built in the main shaft
A motor, the main shaft complete the stock removal action of the cutter under the driving of the motor, and the control method includes: from institute
At least one running parameter that the numerically-controlled machine tool is obtained at machine tool controller is stated, at least one described running parameter is for indicating
Numerically-controlled machine tool state in which in process；At least one running parameter according to acquisition determines the main shaft
The first temperature distribution information；According to the first temperature distribution information of determined main shaft, the deflection of the main shaft is calculated；According to
The deflection for the main shaft being calculated determines the driving amount of feeding of the cutter.According to the program, efficiently avoid passing
The inaccurate problem of the cutter drives amount of feeding caused by sensor temperature measurement inaccuracy.
Preferably, at least one running parameter according to acquisition determines the first temperature distribution information of the main shaft,
It include: a finite element model FEM based on the main shaft, at least one running parameter according to acquisition determines the master
First temperature distribution information of axis；According to first temperature distribution information of the determining main shaft, the master is calculated
The deflection of axis includes: the FEM based on the main shaft, using first temperature distribution information of the main shaft described in
The boundary condition of FEM calculates the deflection of the main shaft.Led to using the program by fully considering the structure feature of main shaft
It crosses and is pre-established with limit meta-model for main shaft to realize the accurate estimation to main shaft temperature and spindle deformation amount, to realize to knife
Has the more accurate control of the amount of feeding.
Preferably, wherein a finite element model FEM based on the main shaft, at least one works according to acquisition
Parameter determines that first temperature distribution information of the main shaft includes: at least one running parameter according to acquisition, really
The spontaneous heating H of the fixed motorrotorAnd the cutting heat H of the cuttercut；By the spontaneous heating H of the determining motorrotorWith
And the cutting heat H of the cuttercutAs the input boundary condition of the FEM, first temperature of the main shaft is calculated
Distributed intelligence.Preferably, wherein at least one described parameter includes: the operating voltage U and operating current I of the motor, and
The revolving speed V of the cutting torque T and the main shaft on the main shaft are applied to by motor, wherein calculating the motor certainly using following formula
Generate heat Hrotor and cutting heat Hcut, Hcut=T*V, and Hrotor=U*I-Hcut.It may be implemented using the program to temperature
The Accurate Prediction of degree.
Preferably, before at least one running parameter for obtaining the numerically-controlled machine tool at the machine tool controller, also
Including calibration process, which includes: to be passed by being set in advance at least one temperature inside or outside the main shaft
The temperature information of the main shaft in sensor acquisition operating, and the synchronous acquisition numerically-controlled machine tool from the machine tool controller
At least one described running parameter；
According at least one running parameter described in the synchronous numerically-controlled machine tool obtained, the numerically-controlled machine tool is determined
Second temperature distributed intelligence；According to the distribution of the second temperature of temperature information collected and the numerically-controlled machine tool determined
Information determines the FEM of the main shaft.Pass through calibration process, it can be ensured that used finite element model predicted temperature with
The accuracy of deflection.
Preferably, the FEM of the determination main shaft includes: and according to the temperature information collected and determines
The second temperature distributed intelligence of the numerically-controlled machine tool determines at least one calibration factor, at least one described calibration factor
When being applied to the FEM for calibrating the deflection of the main shaft calculated.
Preferably, wherein at least one calibration factor of the determination includes: the institute based on the main shaft in calibration process
FEM is stated, the second temperature distributed intelligence of the main shaft is determined according at least one running parameter described in synchronous obtain；It will
Temperature information collected is compared with the second temperature distributed intelligence of the main shaft of determination, described at least with determination
One calibration factor, wherein at least one described calibration factor is used to indicate the actual temperature and root of the main shaft collected
Temperature deviation according at least one parameter described in synchronous obtain between the temperature of the main shaft of determination.By the present invention in that
Deflection is modified with calibration factor, further improves the precision controlling of the cutter drives amount of feeding.
Preferably, control method further include: detect the actual error of the workpiece based on the driving amount of feeding processing；Base
In the actual error, calibration processing is executed to the FEM, comprising: by being set in advance in inside or outside the main shaft extremely
The temperature information of the main shaft in few temperature sensor acquisition operating, and the synchronous acquisition institute from the machine tool controller
State at least one described running parameter of numerically-controlled machine tool；According to temperature information collected and utilize at least one described work ginseng
Number synchronizes determining second temperature distributed intelligence, determines that at least one calibration factor, at least one described calibration factor are used for
The deflection of the main shaft calculated is calibrated when being applied to the FEM.Thus, it is possible to during lathe use, convenient for machine
Bed is safeguarded, guarantees machining accuracy.
Other side according to the invention provides a kind of control system of numerically-controlled machine tool, which includes lathe
Controller, the cutter for cutting workpiece and the main shaft that is connect with the cutter, wherein a motor built in the main shaft, institute
The stock removal action that main shaft completes the cutter under the driving of the motor is stated, the control system includes: that a temperature determines
Unit, for obtaining at least one running parameter of the numerically-controlled machine tool from the machine tool controller, and according to the institute of acquisition
The temperature distribution information that at least one running parameter determines the main shaft is stated, at least one described running parameter is for indicating described
Numerically-controlled machine tool state in which in process；One deformation calculation unit, according to the Temperature Distribution of the determining main shaft
Information calculates the deflection of the main shaft；
One driving amount of feeding determination unit, for determining the cutter according to the deflection for the main shaft being calculated
The driving amount of feeding.
Other side according to the invention provides a kind of control system of numerically-controlled machine tool, comprising: at least one storage
Device, for storing instruction；At least one processor, for calling described instruction to execute the control of any numerically-controlled machine tool above-mentioned
Method.
Other side according to the invention provides a kind of machine readable media, is stored thereon with instruction, when the instruction by
The machine is set to execute the control method of any numerically-controlled machine tool above-mentioned when machine execution.
Detailed description of the invention
Fig. 1 shows the schematic diagram of machine tool control system according to an embodiment of the invention；
Fig. 2 shows the schematic diagrames of machine tool control system in accordance with another embodiment of the present invention；
Fig. 3 shows the schematic diagram using finite element model emulation main shaft temperature；
Fig. 4 shows the schematic diagram using finite element model emulation spindle deformation amount；
Fig. 5 shows Machine-Tool Control schematic diagram according to an embodiment of the invention；
Fig. 6 shows Machine-Tool Control schematic diagram according to an embodiment of the invention.
Specific embodiment
The preferred embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the disclosure without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that this disclosure will be more thorough and complete, and can be by the disclosure
Range is fully disclosed to those skilled in the art.
As shown in Figure 1, showing it illustrates the control system 100 according to an embodiment of the invention for CNC machine
It is intended to.The CNC machine includes machine tool controller 101, such as can be programmable logic controller (PLC) (PLC), for to be added
The cutter that work workpiece is cut, the main shaft connecting with cutter, and the driving motor being built in the main shaft, the main shaft exist
The stock removal action of the cutter is completed under the driving of the motor.It can be appreciated that CNC machine can have multiple driving motors and
Multiple cutters.In the following description, it is explained by taking a cutter and built-in motor as an example, but control method of the invention is same
Sample is suitable for the situation of multiple cutters.
In this example, which can be realized by the industrial host installed on lathe.As shown in Figure 1, the control
System 100 is connect with machine tool controller 101, including temperature determining unit 102, deformation calculation unit 103 and the driving amount of feeding
Computing unit 104.For those skilled in the art it can be appreciated that control system 100 further includes other subsystems or component, but for letter
For the sake of change, the other subsystems or component for including in control system 100 are being not shown in the figure.On numerically-controlled machine tool, Machine-Tool Control
Device 101 controls the driving amount of feeding of cutter according to the parameter of workpiece to be processed under the control of industrial host.Due to processing
In the process, (due to various factors) is so as to cause the thermal deformation of main shaft.And the thermal deformation of this main shaft can be to original according to workpiece
Parameter and the scheduled cutter drives amount of feeding that is arranged have an adverse effect.Therefore, control system 100 of the invention is controlling
This influence of spindle heat generation is considered when the practical amount of feeding of the cutter of 101 reality output of device.
For this purpose, the control system 100 is provided with temperature determining unit 102 to determine the degree of heat on main shaft and export temperature
Spend information.In this example, temperature determining unit 102 reads at least one operating parameter of lathe from machine tool controller 101.The fortune
Row parameter can refer to spindle heat generation directly or indirectly relevant any factor, for indicating the CNC machine processed
State in which in journey.Temperature determining unit 102 utilizes at least one operating parameter, it may be determined that goes out the Temperature Distribution letter of main shaft
Cease H.Deformation calculation unit 103 utilizes identified temperature distribution information H, so that it may calculate the deflection information D of main shaft.It drives
Dynamic amount of feeding computing unit 104 corresponds to the institute of the machined parameters of workpiece to be processed according to deflection information D calculated, adjustment
The driving amount of feeding of cutter is stated, i.e., removes tool feeding amount of the deflection D as reality output from the driving amount of feeding, and
A control command is generated, which indicates the driving amount of feeding being adjusted.Amount of feeding computing unit 104 is driven then will
The control command is supplied to machine tool controller 101, and machine tool controller 101 according to the control command, utilizes the driving being adjusted
The amount of feeding controls the Tool in Cutting.
In a preferred embodiment of the invention, temperature determining unit 102 is based upon one that the main shaft is established in advance
A finite element model FEM, at least one running parameter according to acquisition determine the temperature distribution information H of the main shaft.It should
Finite element model FEM substantially envisages the structure feature of main shaft, is emulated using finite element analysis to main shaft, can be more quasi-
This finite element analysis computation, is referred to as by the Temperature Distribution for really determining main shaft below
As previously mentioned, the present invention operating parameter acquired when calculating Temperature Distribution, which can be, influences each of spindle heat generation
Kind possible factor, the various parameters including influencing main shaft operation.In this example, with the motor that is read from machine tool controller 101
When operating voltage U and operating current I and main shaft work by cutter be applied to torque T on workpiece and speed of mainshaft V come
It is explained.In process, frictional heat i.e. cutting heat can be generated when the Tool in Cutting workpiece connecting with main shaft, and built-in
Motor in main shaft can also generate spontaneous heating during the work time, and all these cutting heats and motor spontaneous heating can be inevitable
Ground is conducted to main shaft, therefore, in this example, the spontaneous heating H that temperature determining unit 102 is generated with motor operatingROTORAnd cutter
Generated cutting heat H when cutting workpieceCUTAs the edge-restraint condition of finite element model FEM, for estimating main shaft
Temperature distribution information H.More specifically, as shown in Fig. 1 dotted line frame, temperature determining unit 102 includes the first computing unit 1021
With the second computing unit 1022.Temperature determining unit 102 receives the operating parameter of lathe, including motor from machine tool controller 101
Operating voltage U and operating current I and main shaft torque T and speed of mainshaft V on workpiece are applied to by cutter when working.
First computing unit 1021 using received lathe operating parameter calculate motor spontaneous heating and the cutting heat on main shaft.The
One computing unit 1021 calculates separately motor using operating voltage U, operating current I, cutting torque T and speed of mainshaft V
Spontaneous heating HROTORWith cutting heat HCUT, wherein
HCUT=T*V
HROTOR=U*I-HCUT
Then, the second computing unit 1022 utilizes HCUTWith HROTORThe boundary condition meter of finite element model FEM as main shaft
The Temperature Distribution H of main shaft is calculated, i.e.,HereRepresent the calculating letter of the finite element model FEM
Number, and temperature H is supplied to deformation calculation unit 103.Then, deformation calculation unit 103 is calculated according to temperature H calculated
The deflection D of main shaft out.Drive amount of feeding computing unit 104 according to deflection information D calculated, adjust the driving of cutter into
To amount, and generate a control command.Machine tool controller 101 according to the control command, utilizes the driving amount of feeding being adjusted
The Tool in Cutting is controlled, to realize the accurate processing to workpiece.
In another embodiment of the present invention, deformation calculation unit 103 is received from temperature determining unit 102 in utilization
Also with the finite element model FEM of the main shaft when deflection D of temperature information H calculating main shaft.103 base of deformation calculation unit
The main shaft is calculated using the temperature information of the main shaft as the boundary condition of the FEM in the FEM of the main shaft
Deflection D, i.e.,Wherein H1,H2..Hm indicate determined by main shaft Temperature Distribution on multiple spot
Temperature.Drive amount of feeding computing unit 104 according to deflection information D calculated, adjust the driving amount of feeding of cutter, i.e., from
Tool feeding amount of the deflection D as reality output is removed in the driving amount of feeding, and generates a control command, the order
Indicate the driving amount of feeding being adjusted.Machine tool controller 101 according to the control command, is fed using the driving being adjusted
Amount controls the Tool in Cutting.Temperature is distributed not in irregular structure feature and main shaft due to substantially envisaging main shaft
Uniform feature, therefore the accurate estimation to spindle deformation amount can be realized using the FEM.
The present invention uses the advantages of finite element model analysis to be: by being emulated to true main axle structure, thus
Realize the solution of accurate main shaft heat distribution and the simulation calculation of spindle deformation.With the processing of simple formula in the prior art
Difference is higher using the computational solution precision of finite element model.It is using main shaft as having it should be noted that in the present invention
The main body of finite element analysis model then can be using by leading as the mode for establishing finite element model for main body determining in this way
The existing model that axis supplier provides, or voluntarily constructed according to actual product parameter, for simplicity, do not do here more in detail
Thin discussion.
Fig. 3 shows exemplary the showing of main shaft temperature H distribution on the finite element model according to the embodiment established to main shaft
It is intended to.It can be seen from this figure that the temperature on main shaft changes along main shaft, wherein (scheme on main shaft with the engaging portion of cutter
Middle left side) there is maximum temperature, such as reached 179.86 DEG C under certain experiment condition, and it is minimum in distal temperature
153.17℃.The model illustrates the profiling temperatures at each position on main shaft well.
Fig. 4 shows the distribution of spindle deformation amount D on the finite element model according to the embodiment established to main shaft.It can see
It arrives, there is maximum deflection with the engaging portion of cutter on main shaft, such as reach under experiment condition same as before
The deformation of 0.9062mm, and the deflection in distal end and motor engaging portion is zero.The model illustrates each on main shaft well
The deformation distribution situation in portion, portion.
It is the temperature come with the finite element model FEM established in advance for main shaft to main shaft in examples detailed above of the invention
Distribution and the calculating of spindle deformation amount.Optionally, in practice, the lathe is being obtained at the machine tool controller 101
At least one running parameter before, further finite element model FEM further can also be calibrated.Fig. 2 shows have
The schematic diagram of the machine tool control system 100 of calibration function.
As shown in Fig. 2, the control system 100 comprising the temperature for estimating main shaft temperature identical with Fig. 1 in addition to determining
Except unit 102, the deformation calculation unit 103 for calculating spindle deformation amount and driving amount of feeding computing unit 104, also wrap
One is included with the calibration module 105 shown in dotted line frame.As shown, the calibration module 105 include at least one sensor 106 with
And model calibration unit 107.At least one described temperature sensor 106 is preset inside or outside the main shaft, then,
The lathe is run, and passes through the main shaft in the acquisition operating in real time of sensor 106 in the CNC machine operational process
Temperature information.
With the 106 temperature collection synchronizing information of sensor, the temperature determining unit 102 is from the machine tool controller
Synchronous at least one described running parameter for obtaining the CNC machine at 101, and initially have according to what is established in advance for the main shaft
Meta-model FEM is limited, the temperature distribution information H determined using at least one described running parameter.Here at least one fortune
Row parameter can include but is not limited to the operating voltage U and operating current I and main shaft work of the motor discussed in preceding embodiment
Torque T and the speed of mainshaft V etc. being applied to when making by cutter on workpiece.
Model calibration unit 107 receives the temperature of actual acquisition from the sensor 106, and determines list from the temperature
Member 102 receives the temperature distribution information determined using at least one described running parameter, according to temperature information collected
With the determining temperature distribution information, identified actual temperature of the temperature distribution information relative to main shaft can be determined
Error degree.Model calibration unit 107 can be adjusted to this that the main shaft establishes in advance according to the error degree initially to be had
Limit meta-model FEM.After one or many adjustment, after the error meets pre-provisioning request, model calibration unit 107 will
FEM by calibration is respectively stored into the temperature determining unit 102 and computing unit 103, to update storage in wherein
Initial FEM model.
Since temperature determining unit 102 utilizes the determining temperature distribution information of at least one running parameter and actual main shaft
Temperature can there is errors, can also be having in the deformation calculation unit 103 in another preferred embodiment of the invention
Limit meta-model sets at least one calibration factor λ, using at least one calibration factor λ, deformation calculation unit 103 is estimated
Deflection D be modified, thus more realistically reflect main shaft deflection.As shown in Fig. 2, model calibration unit 107 can be with
The error of actual temperature according to the temperature distribution information determined using at least one described running parameter relative to main shaft
The calibration factor λ is generated, which indicates the degree of the error, calibration factor λ can store in deformation gauge
It calculates in unit 103.With it is aforementioned similar, temperature determining unit 102 utilizes updated finite element model, based on from machine tool controller
At least one parameter obtained calculates main shaft temperature distributed intelligence H.Deformation calculation unit 103 utilizes temperature determining unit 102
The main shaft temperature distribution H of calculating utilizes the finite element model FEM function of the update as edge-restraint conditionCalculate institute
State the deflection D of main shaft, and in turn using the calibration factor λ to the deflection D be modified processing or directly should
Calibration factor is for adjusting the limited meta-functionTo generate corrected deflection D '.Drive amount of feeding computing unit
104 according to deflection information D ' calculated, adjusts the driving amount of feeding of the cutter, and generates a control command and should
Control command is supplied to machine tool controller 101.Machine tool controller 101 according to the control command, using the driving being adjusted into
The Tool in Cutting is controlled to amount.
Above example is that the scheme of calibration factor λ is generated using the deviation between actual temperature and calculating temperature.It can
Selection of land, can also by the deflection that directly measures the practical distortion amount of main shaft and calculate it with deformation calculation unit 103 into
Row compares, and thus generates the signal for reflecting deviation between the two, is supplied to deformation calculation unit as the calibration factor λ
103。
It is to be herein pointed out calibration module 105 is not an indispensable module of the CNC machine control system,
It, which can be, is removably installed in the control system 100 or in 100 alternative of control system as individual module
Ground activation, for being calibrated before lathe actual motion or factory to machine tool control system.Once being completed by calibration module 105
Calibration to the finite element model FEM and/or the calibration factor λ has been determined it, so that it may remove or forbid the master die
Block 105.With during normal operation, temperature determining unit 102 and deformation calculation unit 103 can be directly using by calibrations
Finite element model, deformation calculation unit 103 can directly be modified deflection D using calibration factor λ.And make in lathe
After period or factory, if lathe is abnormal, such as when determining that the workpiece that processes there are when large error, then passes through
It installs or activates again the calibration module 105 and start calibration mode to recalibrate finite element model FEM and/or generate new
Calibration factor λ ', using recalibration finite element model FEM and the new calibration factor λ ' again update deformation calculate
Unit 103 and temperature determining unit 102, to realize the calibration to lathe.
Optionally, which can be only made of model calibration unit 107, and temperature sensor 106 is placed in this
Outside calibration module 105.One embodiment according to the invention as a result, can be by calibration module 105 and temperature determining unit
102, deformation calculation unit 103, driving amount of feeding computing unit 104 integrate.In calibration, activation control system can be passed through
Calibration module inside system 100 simultaneously implements calibration process as described above using external sensor 106 simultaneously.
In addition, also providing a kind of control system of numerically-controlled machine tool, comprising: at least one processor, for storing instruction；Extremely
A few processor, for calling described instruction to execute the control method of numerically-controlled machine tool provided in an embodiment of the present invention.The control
System can be considered a kind of optional implementation of control system 100.The wherein temperature determining unit in control system 100, change
Shape computing unit, driving amount of feeding determination unit and calibration unit etc. can be considered a part in instruction.
Fig. 5 shows the control flow chart of industrial host according to an embodiment of the invention.As shown, being opened in lathe
After beginning work, in step 501, from 101 receiver bed operating parameter of machine tool controller.In step 502, temperature determining unit 102
The temperature distribution information of the main shaft is determined according to the operating parameter of acquisition.As an example, here still with the operating voltage U of motor
With operating current I and the cutting torque T applied by main shaft by cutter and speed of mainshaft V as the operating parameter, and
Temperature determining unit 102 is utilized as the finite element model FEM of main shaft foundation, and the temperature of the main shaft is calculated based on the operating parameter
Spend distributed intelligence H.Wherein, temperature determining unit 102 calculates the spontaneous heating Hrotor and knife of motor using above-mentioned operating parameter
The cutting heat Hcut of tool, then to the finite element model using the spontaneous heating Hrotor and cutting heat as boundary condition
Hcut, to calculate the temperature H of main shaft.In step 503, deformation calculation unit 103 has described in using temperature H calculated
Limit meta-model FEM functionEdge-restraint condition, calculate the deflection D of main shaft.In step 504, the amount of feeding is driven to calculate single
Member 104 generates a control command using the deflection D calculated of deformation calculation unit 103, and the control command is supplied to institute
Machine tool controller 101 is stated, machine tool controller 101 according to the control command, the driving of the cutter is adjusted using deflection D
The amount of feeding, to realize the accurate control of the amount of feeding.
Further, in step 503, deformation calculation unit 103 is also using the calibration factor λ of storage inside to described
Deflection D is modified, to export corrected deflection D '.In step 504,104 benefit of amount of feeding computing unit is driven
Control command is generated with the deflection D ' corrected.Machine tool controller 101 is according to control command in turn, according to cutter adjusted
The amount of feeding is driven, Tool in Cutting is controlled.
Fig. 6 shows the flow diagram for calibrating finite element model.As shown in fig. 6, in step 601, from lathe control
Device 10 processed receives at least one lathe operating parameter.In step 602, temperature determining unit 102 is run using at least one lathe
Parameter determination can be suitable as the boundary condition of the finite element model FEM, such as calculate the maximum temperature of the fever of the main shaft
Hmax and minimum temperature Hmin is spent, and in turn using maximum temperature Hmax and minimum temperature Hmin as the finite element model of main shaft
Input boundary condition estimate the Temperature Distribution H of main shaft.It is outside main shaft or interior from being pre-set at meanwhile in step 603
The sensor 106 in portion receives the actual temperature H ' for the main shaft measured.In step 604, model calibration unit 107 relatively described in estimate
The temperature H and actual temperature H ' of calculation, and judge the error degree between the temperature H and actual temperature H ' that estimate.In step 605,
When model calibration unit 107 determines that the error is very big, show the fitting effect of estimated temperature H and actual temperature H ' it is very poor,
Such as error code difference is when being greater than a certain threshold value, then the initial finite element model FEM is calibrated (such as adjust the FEM's
Inner parameter), and step 601 is returned in turn, it is repeated the above steps 602-605 using the FEM by calibration.If in step
When the 605 determining temperature errors are lower than the threshold value, then mean that current finite element model FEM meets temperature simulation calculating
It is required that therefore the FEM of the calibration is stored in deformation calculation unit 103 and temperature calculation unit 102.Optionally, in step
606, the signal of the temperature error of the temperature H and actual temperature H ' of reflection estimation can also be generated, is supplied to as calibration factor λ
Deformation calculation unit 103 simultaneously stores.
Following advantage may be implemented according to the solution of the present invention:
Due to estimating the temperature of main shaft according to the operating parameter of lathe, the dependence to sensor can avoid, from
And the adaptation environment of lathe of the invention is not only increased, and because therefore the reduction of this component also improves entire lathe
Reliability.In addition, preferred embodiment according to the present invention, by fully considering the structure feature of main shaft, by for main shaft it is pre-
Finite element model is established first to realize the accurate estimation to spindle deformation amount, to realize the more accurate control to tool feeding amount
System.And realize that the calculating to spindle deformation amount is usually to utilize simple formula using the main shaft temperature detected in traditional technology
Come the features such as obtaining, not accounting for the construction of main shaft, thus it is low there is precision the problems such as.And the present invention passes through emulation master
The structure feature of axis calculates the temperature of main shaft and the deflection of main shaft, improves the accuracy of calculating, realizes to cutter
It is precisely controlled, therefore has also correspondingly improved the machining accuracy of entire lathe.
Each preferred embodiment of the invention is described in conjunction with each example above.It can be appreciated that Fig. 1, each unit shown in 2
It can be realized by the way of software, hardware (such as integrated circuit, FPGA etc.) or software and hardware combining.Although shown in addition,
Temperature determining unit and deformation calculation unit and machine tool controller are shown in a separate form, it is apparent that can also be by temperature
Determination unit is integrated with machine tool controller with deformation calculation unit to realize.For example, the present invention can also be by by counting
It calculates device execution and is stored on machine-readable media instruction to realize above-mentioned each unit and machine tool controller, by executing the finger
Order can be used for implementing according to the method for the present invention.
It will be appreciated by those skilled in the art that each embodiment disclosed above, it can be without departing from invention essence
In the case of make various modifications and change.Therefore, protection scope of the present invention should be defined by the appended claims.
Claims (16)
1. a kind of control method of numerically-controlled machine tool, which further includes a machine tool controller, and one is used for cutting workpiece
Cutter and a main shaft being connect with the cutter, a motor built in the main shaft, the main shaft is in the motor
The lower stock removal action for completing the cutter of driving, the control method include:
At least one running parameter of the numerically-controlled machine tool, at least one described running parameter are obtained from the machine tool controller
For indicating numerically-controlled machine tool state in which in process；
At least one running parameter according to acquisition determines the first temperature distribution information of the main shaft；
According to the first temperature distribution information of determined main shaft, the deflection of the main shaft is calculated；
The driving amount of feeding of the cutter is determined according to the deflection for the main shaft being calculated.
2. the method as described in claim 1, which is characterized in that
At least one running parameter according to acquisition determines the first temperature distribution information of the main shaft, comprising: is based on institute
A finite element model FEM of main shaft is stated, at least one running parameter according to acquisition determines described the of the main shaft
One temperature distribution information；
According to first temperature distribution information of the determining main shaft, the deflection for calculating the main shaft includes: based on institute
The FEM for stating main shaft calculates institute using first temperature distribution information of the main shaft as the boundary condition of the FEM
State the deflection of main shaft.
3. control method as claimed in claim 2, wherein based on the main shaft finite element model FEM, according to the institute of acquisition
It states at least one running parameter and determines that first temperature distribution information of the main shaft includes:
At least one running parameter according to acquisition determines the spontaneous heating H of the motorrotorAnd the cutting of the cutter
Hot Hcut；
By the spontaneous heating H of the determining motorrotorAnd the cutting heat H of the cuttercutInput boundary as the FEM
First temperature distribution information of the main shaft is calculated in condition.
4. such as the control method of Claims 2 or 3, which is characterized in that obtaining the numerical control machine at the machine tool controller
It further include calibration process, which includes: before at least one running parameter of bed
The main shaft in operating is acquired by being set in advance at least one temperature sensor inside or outside the main shaft
Temperature information, and synchronous from the machine tool controller obtain at least one running parameter described in the numerically-controlled machine tool；
According at least one running parameter described in the synchronous numerically-controlled machine tool obtained, the of the numerically-controlled machine tool is determined
Two temperature distribution informations；
According to the second temperature distributed intelligence of temperature information collected and the numerically-controlled machine tool determined, the master is determined
The FEM of axis.
5. method as claimed in claim 4, which is characterized in that the FEM of the determination main shaft includes:
According to the second temperature distributed intelligence of the temperature information collected and the numerically-controlled machine tool determined, determine extremely
A few calibration factor, at least one described calibration factor is when being applied to the FEM for calibrating the main shaft calculated
Deflection.
6. method as claimed in claim 5, wherein at least one calibration factor of the determination includes:
Based on the FEM of the main shaft in calibration process, determined according at least one running parameter described in synchronous obtain
The second temperature distributed intelligence of the main shaft；
Temperature information collected is compared with the second temperature distributed intelligence of the main shaft determined, to determine
State at least one calibration factor, wherein at least one described calibration factor is used to indicate the practical temperature of the main shaft collected
Spend the temperature deviation between the temperature of the main shaft of at least one parameter and determination according to synchronous acquisition.
7. method as claimed in claim 2, further comprises:
Detect the actual error of the workpiece based on the driving amount of feeding processing；
Based on the actual error, calibration processing is executed to the FEM, comprising:
The main shaft in operating is acquired by being set in advance at least one temperature sensor inside or outside the main shaft
Temperature information, and synchronous from the machine tool controller obtain at least one running parameter described in the numerically-controlled machine tool；
According to temperature information collected with using the synchronous determining second temperature distributed intelligence of at least one described running parameter,
Determine at least one calibration factor, at least one described calibration factor is for calibrating institute calculated when being applied to the FEM
State the deflection of main shaft.
8. a kind of control system of numerically-controlled machine tool, the numerically-controlled machine tool include machine tool controller, for cutting workpiece cutter and
The main shaft being connect with the cutter a, wherein motor built in the main shaft, the main shaft are completed under the driving of the motor
The stock removal action of the cutter, the control system include:
One temperature determining unit, for obtaining at least one work ginseng of the numerically-controlled machine tool from the machine tool controller
Number, and at least one running parameter according to acquisition determines the temperature distribution information of the main shaft, at least one described work
Make parameter for indicating numerically-controlled machine tool state in which in process；
One deformation calculation unit calculates the deflection of the main shaft according to the temperature distribution information of the determining main shaft；
One driving amount of feeding determination unit, for determining the drive of the cutter according to the deflection for the main shaft being calculated
The dynamic amount of feeding.
9. control system as claimed in claim 8 a, wherein finite element model of the temperature determining unit based on the main shaft
FEM, at least one running parameter according to acquisition determine the first temperature distribution information of the main shaft；And
The deformation calculation unit is based on the FEM of the main shaft, with first temperature distribution information of the main shaft
As the boundary condition of the FEM, the deflection of the main shaft is calculated.
10. such as the control system of claim 8 or 9, wherein the temperature determining unit further comprises:
First computing unit calculates the spontaneous heating of the motor at least one running parameter according to acquisition
The cutting heat Hcut of Hrotor and the cutter,
Second computing unit utilizes the motor spontaneous heating Hrotor and Tool in Cutting for being based on finite element model FEM
Input boundary condition of the hot Hcut as the finite element model, is calculated the first Temperature Distribution of the main shaft.
11. such as the control system of claim 9 or 10, further includes:
Calibration unit, comprising:
At least one temperature sensor being set in advance in inside or outside the main shaft, for acquiring the main shaft in operating
Actual temperature information,
Model calibration unit utilizes from the machine tool controller described in synchronous acquisition for receiving the temperature determining unit
At least one running parameter and the second temperature distributed intelligence for synchronizing the main shaft of calculating, and according to actual temperature information collected
With the second temperature distributed intelligence of the main shaft of calculating, the FEM is determined.
12. such as the control system of claim 11, wherein
The temperature determining unit is determined according to the temperature information collected and the second temperature distributed intelligence determined
At least one calibration factor, at least one described calibration factor is for calibrating the master calculated when being applied to the FEM
The deflection of axis.
13. as claim 12 control system, wherein the temperature determining unit further,
Based on the FEM of the main shaft in calibration process, at least one running parameter according to synchronizing is determined
The second temperature distributed intelligence of the main shaft；
By temperature information collected with according to synchronize obtain described at least one running parameter determine the of the main shaft
Two temperature distribution informations are compared, to determine at least one described calibration factor, wherein at least one described calibration factor is used
In indicate the actual temperature of the main shaft collected with according to synchronize obtain described in described at least one parameter and determination
Temperature deviation between the temperature of main shaft.
14. a kind of numerical control machine tool, including the control system as described in one of claim 8-13.
15. a kind of control system of numerically-controlled machine tool, comprising:
At least one processor, for storing instruction；
At least one processor, for calling described instruction to execute method as described in any one of claims 1 to 7.
16. a kind of machine readable media is stored thereon with instruction, so that the machine is implemented right when the instruction is executed by machine and want
The method for seeking one of 1-7.
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| WO2019063830A1 (en) | 2019-04-04 |
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