CN114279316A - Method for detecting eccentric degree of lead screw based on damping recognition - Google Patents
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Abstract
The invention discloses a method for detecting the eccentricity degree of a lead screw based on damping recognition, which considers that the eccentricity of the lead screw can affect certain signals collected in a numerical control system to a certain extent, such as the load current of a servo motor of a feeding system, the actual position of a feeding shaft, pulse signals and the like, and further affects the integral damping of the feeding system. Damping is an inherent parameter of a mechanical system, and the mechanical inherent parameter changes when the mechanical system works badly. Therefore, the eccentric condition of the screw can be detected through the change characteristic of the damping. The eccentric degree of the screw can be judged according to the eccentric degree of the screw without requiring complicated and accurate manual operation. The method has the advantages of high detection precision, strong popularization and the like.
Description
Technical Field
The invention belongs to the field of numerical control machine tools, and particularly relates to a method for detecting the eccentricity degree of a lead screw based on damping recognition.
Background
A large number of shaft parts are used in a transmission mechanism of a numerical control machine tool for transmission, a feeding system is taken as an example, the feeding system mainly comprises a servo motor shaft, a coupler and a lead screw, which are matched with other parts, and the servo motor and the lead screw transmit motion and torque through the coupler in the middle. If the centering precision of the coupler is insufficient due to the fact that the assembling quality does not reach the standard, the rotation axes of the screw rod and the servo motor are not on the same straight line, and then the screw rod is caused to rotate eccentrically. The eccentric rotation can cause the bearings at the two ends of the coupler to vibrate greatly, and the service life of the lead screw and the bearing is reduced; the feeding precision of the feeding system is influenced, meanwhile, the abrasion of parts is increased, the feeding precision is further reduced, and the service life is further prolonged.
The existing lead screw eccentricity detection technology generally has three types: applying a system function method, a polar coordinate measuring method and a distance calculating method. The application system functional method means that developers compile standard coaxiality detection subprograms in a numerical control system, and users call the standard coaxiality detection subprograms at any time according to own requirements. Polar measurements are similar to platform measurements, with the reference elements being obtained from straight lines constructed after two-axis measurements. The distance finding method is a method for measuring the distance between the measured axis and the reference axis by some method. The traditional distance-finding method includes a steel wire drawing method, a comprehensive gauge method, a three-coordinate instrument method and the like. However, most of the existing lead screw eccentricity detection technologies obtain the relationship between the measured axis and the reference axis by a solid geometry method, and then determine whether the measured axis is eccentric. However, when the numerical control machine tool is used as a traditional large-scale precise electromechanical product, the lead screw of the numerical control machine tool has a small eccentric degree and is usually invisible to naked eyes, but the precision of a machined part and the service life of the machine tool are seriously influenced. Therefore, all the methods of judging the lead screw eccentricity by geometric methods are unreliable because they are limited by the skill level of the operator, the precision of the operation, and the precision of the installation of the instrument. Therefore, the problem to be solved is solved if accurate detection of the eccentricity of the lead screw is realized.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a method for detecting the eccentric degree of the lead screw based on damping identification, thereby solving the technical problem of lower detection precision of the existing lead screw eccentric detection method.
To achieve the above object, according to one aspect of the present invention, there is provided a method for detecting a degree of eccentricity of a lead screw based on damping recognition, including:
s1, collecting motor stator current, motor pulse signals and an X-axis feeding position in the moving process of a feeding shaft to calculate a damping signal B (t) of the feeding shaft in the moving process;
s2, converting B (t) to a time frequency domain to obtain B (f); if the B (t) is in periodic change and the period is equal to the time for feeding one lead screw lead by the X axis, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f) dominant frequency;
or, converting the damping signal to a position domain to obtain B (X), and converting B (X) to a position frequency domain to obtain B (f '), wherein if B (X) is periodically changed and the period is equal to the lead of the lead screw, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f').
Preferably, before step S1, the method further includes: under the condition that the screw rods are eccentric to different degrees, operating a feeding system, and respectively calculating damping signals of the feeding shaft in the movement process under the eccentric distance of each screw rod;
converting the damping signal into a time frequency domain to obtain B (f), and calibrating the eccentricity of the screw rod and the amplitude of the main frequency of B (f) to obtain a relational expression between the eccentricity and the amplitude of the main frequency of B (f); or, converting the damping signal to a position domain to obtain B (X), converting the B (X) to a position frequency domain to obtain B (f '), and calibrating the eccentricity of the lead screw and the amplitude of the main frequency of the B (f'), so as to obtain a relational expression between the two.
Preferably, the determining the eccentricity degree of the screw according to the amplitude of the main frequency of B (f) comprises:
and determining the eccentricity degree of the screw rod according to the amplitude of the main frequency of B (f) and a relation between the eccentricity of the screw rod and the amplitude of the main frequency of B (f).
Preferably, the determining the eccentricity of the screw according to the amplitude of the b (f) primary frequency comprises:
and determining the eccentricity degree of the screw according to the amplitude of the B (f) main frequency and a relation between the eccentricity of the screw and the amplitude of the B (f) main frequency.
Preferably, the relation between the amplitude of the B (f) or B (f) primary frequency and the eccentricity of the screw is as follows:
wherein A is the amplitude of B (f) or B (f)'.
Preferably, the damping signal is calculated by the formula:
wherein B is the damping of the feed system, X is the X-axis feed position, KSFor converting the equivalent comprehensive rigidity of the feed system on the screw, h is the lead of the screw, KZFor axial stiffness of the feed system, JSIs equivalent moment of inertia, T, of the mechanical part of the feed systembFor starting torque of front and rear end bearings, TLIs the load torque;
θm(t) is the actual rotational angle of the motor shaft, θm(t) d θ f (t), d θ is the step angle of the motor, and f (t) is the collected motor pulse signal;
f is the driving force of the servo motor,
r represents the radius of rotation of the drive motor, KTIs a torque constant, I1Is the motor stator current.
According to another aspect of the present invention, there is provided an apparatus for detecting a degree of eccentricity of a lead screw based on damping recognition, comprising:
the first processing module is used for acquiring a current signal, a pulse signal and a feed shaft position signal in the motion process of the feed shaft so as to calculate a damping signal B (t) of the feed shaft in the motion process;
the second processing module is used for converting the damping signal B (t) to a time frequency domain to obtain B (f); if the B (f) is in periodic change and the period is equal to the time for feeding one lead screw lead by the X axis, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the main frequency of the B (f);
or, converting the damping signal to a position domain to obtain B (X), and converting B (X) to a position frequency domain to obtain B (f '), wherein if B (X) is periodically changed and the period is equal to the lead of the lead screw, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f').
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the method for detecting the eccentricity degree of the screw rod based on damping recognition considers that the eccentricity of the screw rod can affect certain signals collected in a numerical control system to a certain extent, such as load current of a servo motor of a feeding system, actual position of a feeding shaft, pulse signals and the like, so that the overall damping of the feeding system is affected. Damping is an inherent parameter of a mechanical system, and the mechanical inherent parameter changes when the mechanical system works badly. Therefore, the eccentric condition of the screw can be detected through the change characteristic of the damping.
2. The method for detecting the eccentricity degree of the lead screw based on damping recognition provided by the invention fully utilizes data provided in a numerical control system, calculates a damping signal of a feeding system through a pulse signal, a current signal and a feeding shaft position signal in the numerical control system, and qualitatively judges whether the lead screw is eccentric and the eccentricity degree thereof according to position domain and frequency domain characteristics extracted from the damping signal. The eccentric degree of the screw can be judged according to the eccentric degree of the screw without requiring complicated and accurate manual operation. The method has the advantages of high detection precision, strong popularization and the like.
Drawings
FIG. 1 is a schematic diagram of an eccentric model of a motor shaft and a screw shaft according to the present invention;
FIG. 2 is a schematic diagram of B (t) and B (f) according to the present invention;
FIG. 3 is a schematic diagram of B (X) and B (f');
FIG. 4 is a flowchart of a method for detecting the eccentric degree of a lead screw based on damping recognition according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a method for detecting the eccentricity degree of a lead screw based on damping identification, which comprises the following steps:
s1, collecting motor stator current, motor pulse signals and an X-axis feeding position in the moving process of a feeding shaft to calculate a damping signal B (t) of the feeding shaft in the moving process;
s2, converting B (t) to a time frequency domain to obtain B (f); if the B (t) is in periodic change and the period is equal to the time for feeding one lead screw lead by the X axis, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f) dominant frequency;
or, converting the damping signal to a position domain to obtain B (X), and converting B (X) to a position frequency domain to obtain B (f '), wherein if B (X) is periodically changed and the period is equal to the lead of the lead screw, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f').
Specifically, the method provided by the invention comprises the following steps:
1) calling a detection G code for detecting the eccentricity of the screw rod;
2) acquiring a current signal, a pulse signal and a feed shaft position signal which are acquired by a numerical control system in the feed shaft movement process so as to obtain a damping signal in the feed shaft operation process;
3) based on a damping recognition function of the feed system dynamic modeling, inputting a current signal, a pulse signal and a feed shaft position signal into the damping recognition function to obtain a damping signal in the feed shaft movement process;
4) and converting the obtained damping signal to a position domain and a frequency domain based on the damping change characteristic caused by the eccentricity of the screw, and judging whether the screw is eccentric and the eccentricity degree according to the period and the amplitude of the position domain, and the main frequency and the amplitude of the frequency domain.
Further, the calculation formula of the damping signal, i.e. the damping identification function, is expressed as:
wherein B is the damping of the feed system, X is the X-axis feed position, KSFor converting the equivalent comprehensive rigidity of the feed system on the screw, h is the lead of the screw, KZFor axial stiffness of the feed system, JSIs equivalent moment of inertia, T, of the mechanical part of the feed systembFor starting torque of front and rear end bearings, TLIs the load torque;
the collected current signals are used for calculating the driving force F of the servo motor in the damping identification function, and the specific formula of the F is represented as follows:
wherein r represents the radius of rotation of the drive motor, KTIs a torque constant, I1Is the motor stator current.
The collected pulse signals are used for calculating the actual rotation angle theta of the servo motorm(t) the calculation formula is expressed as:
θm(t)＝dθ*f(t) (3)
wherein d theta is the stepping angle of the motor, and f (t) is the collected motor pulse signal.
F, thetamAnd substituting the inherent parameters of the X and the lead screw into a damping identification function of the feeding system to obtain a damping signal B (t).
Preferably, before step S1, the method further includes: under the condition that the screw rods are eccentric to different degrees, operating a feeding system, and respectively calculating damping signals of the feeding shaft in the movement process under the eccentric distance of each screw rod;
converting the damping signal into a time frequency domain to obtain B (f), and calibrating the eccentricity of the screw rod and the amplitude of the main frequency of B (f) to obtain a relational expression between the eccentricity and the amplitude of the main frequency of B (f); or, converting the damping signal to a position domain to obtain B (X), converting the B (X) to a position frequency domain to obtain B (f '), and calibrating the eccentricity of the lead screw and the amplitude of the main frequency of the B (f'), so as to obtain a relational expression between the two.
Preferably, the determining the eccentricity degree of the screw according to the amplitude of the B (f) dominant frequency comprises:
and determining the eccentricity degree of the screw according to the amplitude of the B (f) dominant frequency and a relation between the eccentricity of the screw and the amplitude of the B (f) dominant frequency.
Preferably, the determining the eccentricity of the screw according to the amplitude of the b (f) primary frequency comprises:
and determining the eccentricity degree of the screw according to the amplitude of the B (f) main frequency and a relation between the eccentricity of the screw and the amplitude of the B (f) main frequency.
Specifically, the specific method for judging the lead screw eccentricity according to the damping signal comprises the following steps:
as shown in FIG. 1, the center of the motor shaft is O, and the axis of the screw rotates around the center of the motor shaft with an eccentricity e as a radius due to the eccentricity of the screw, and the center of the screw shaft is located at O1And O2On the circle of which it is located. According to the geometric relationship, angle A1OA2Typically, the angle of rotation of the motor is denoted as alpha, and the axis of the screw shaft is from O1Is rotated to O2In the process, the rotating angle of the servo motor is equal to ^ A1OA2The angle rotated by the screw rod is ^ A1O1A2In the figure, there is ≈ A1O1A2＝∠A1OA2+∠OB2O1So that the difference beta between the rotation angle of the servo motor and the rotation angle of the screw rod is equal to angle OB2O1＝∠A1O1A2-∠A1OA2By the sine theorem, we can obtain:
the above then is formulated as:
[e(1-cosα)+R]sinβ＝e sin 2πft (5)
according to Taylor's formula, higher order small quantities can be directly rounded off, where β, e are interrelated first order small quantities, and thus the above equation:
wherein beta is the difference between the rotation angle of the screw rod and the rotation angle of the motor, f is the rotation frequency of the screw rod, alpha is the rotation angle of the screw rod, e is the eccentricity between the axis of the motor and the axis of the screw rod, and R is the radius of the screw rod.
To highlight the periodicity of β, the periodicity expression of equation (6) is:
when the lead screw is eccentric and leads to the motor to drive the lead screw to be rotary motion, the one end of keeping away from the motor shaft on the lead screw makes the bearing inner and outer lane produce the extrusion at rotatory in-process, and then produces periodic alternating stress to the supporting bearing, periodic alternating stress's periodicity should keep unanimous with the periodicity of lead screw motor corner difference, so periodic alternating stress is the function f of the difference beta between lead screw corner and the motor corner:
wherein U represents a periodic alternating stress.
The cyclic alternating stress of the support bearing causes the damping of the system to vary, so the system damping B is a function g of the alternating stress U:
it can be seen from equation (9) that periodic alternating stress causes periodic changes in system damping.
Thus, the frequency of the periodic alternating stress is also f, and the frequency of the feed system damping signal should also be f. One period
And the corresponding motor rotates for one circle, and the lead screw moves to the positive direction of the X axis by one lead screw lead h. The corresponding period of the damping coefficient of the system in the time domain is therefore the time required for the screw to advance one lead
The corresponding period of the system damping coefficient in the position domain is the lead h of the lead screw.
According to the formula (6), the difference beta between the screw rotation angle and the motor rotation angle is a dependent variable, the eccentricity e is an independent variable, and the larger the eccentricity e is, the larger the amplitude of beta is, and the range corresponding to the original eccentricity e is included. The larger the amplitude of the alternating stress U is, the larger the value range corresponding to the difference β between the filament lever rotational angle and the motor rotational angle is, as a result of equation (8). The larger the amplitude of the system damping coefficient B is caused according to the formula (9) and the value range corresponding to the original alternating stress U is included. Therefore, the larger the eccentricity e is, the larger the amplitude of the system damping coefficient B is.
In this embodiment, a model of the eccentricity e and the amplitude of the system damping coefficient B is obtained by calibration, that is, a relational expression between the amplitude of the main frequency B (f) or B (x) and the eccentricity of the screw rod is as follows:
where A is the amplitude of the system damping, i.e. the amplitude of B (f) or B (X) primary frequencies.
The formula (10) is suitable for the drilling and milling center of the Yontao 850 series selected in the embodiment, and if the calculation of other types of machine tools is needed, the machine tools need to be calibrated again.
In summary, according to the damping signal b (t) calculated in step 3), the damping signal b (t) is converted to the time-frequency domain b (f), if the damping is periodically changed in the time domain and the period is
If the main frequency in the frequency domain is f, the eccentricity phenomenon exists, and the larger the eccentricity is, the larger the amplitude of the damping signal is; or, the damping signal B (t) is transferred to a position domain B (X) and then transferred to a position frequency domain B (f), if the damping is periodically changed in the position domain, the period is the lead of the lead screw h, and the dominant frequency in the frequency domain is
An eccentricity phenomenon exists and the larger the eccentricity is, the larger the amplitude of the damping signal is. According to equation (10), the eccentricity can be calculated from the damping signal amplitude.
The method for detecting the eccentric degree of the screw based on damping identification provided by the invention is further explained by a specific example.
As shown in fig. 4, the method mainly comprises the following steps:
step 1: firstly, the feeding system is ensured to feed a certain feeding shaft at a constant speed from a negative limit to a positive limit at 3000mm/min under basically the same initial working condition. Taking the X axis as an example, the influence of other factors on the damping of the feeding system can be eliminated to the maximum extent when the machine tool runs in an idle state.
Firstly, the feeding system is ensured to feed a certain feeding shaft at a constant speed from a negative limit to a positive limit at 3000mm/min under basically the same initial working condition. Taking the X axis as an example, the influence of other factors on the damping of the feeding system can be eliminated to the maximum extent when the machine tool runs in the no-load state, and meanwhile, the time domain signal can be conveniently converted into the position domain signal.
Step 2: and acquiring data signals acquired by the numerical control system in the machining process, and inquiring inherent parameters of the machine tool. The step is to prepare for the data collected in the step 3 to calculate the damping signal of the feeding system. The current signal is used for calculating the feeding force, and the pulse signal is used for calculating the rotation angle of the motor. Wherein, the damping calculation formula of the feeding system is as follows:
wherein B is the feed system damping, X is the actual position of the X axis, KSIs equivalent integrated stiffness, theta, of the feed system converted to the screwmIs the actual rotation angle of the motor shaft, h is the lead screw lead, KZFor axial stiffness of the feed system, JSIs equivalent moment of inertia, T, of the mechanical part of the feed systembFor starting torque of front and rear end bearings, TLF is the servo motor driving force.
And step 3: calculating a damping signal B (t) of the feeding system, and converting the damping signal B (t) into a time frequency domain B (f) by Fourier transform, as shown in figure 2. Multiplying the damping signal t axis by the constant feeding speed to obtain the system damping position domain B (X), and converting the damping position domain signal B (X) into the position frequency domain B (f) by Fourier transform, as shown in FIG. 3.
And 4, step 4: judging whether the screw rod is eccentric or not and the eccentric degree according to the damping signal B (t), the time frequency domain signal B (f) and the calculation result; or, the damping position domain signal B (X) and the position frequency domain signal B (f) and the calculation result determine whether the lead screw is eccentric or not and the eccentric degree.
The lead of the lead screw on the experimental platform of this example is 16mm, and the time for feeding one lead screw lead in the X-axis is 0.32 s.
As shown in fig. 2 (a), there is a periodic variation in damping in the time domain; as shown in fig. 2 (b), the cycle corresponding to the dominant frequency is 1/3.125 — 0.32s, and it is determined that the eccentricity phenomenon exists. The eccentricity e was calculated to be 0.05mm according to the formula (10).
As shown in fig. 3 (a), there is a periodic variation in damping over the position domain; as shown in fig. 3 (b), the period corresponding to the dominant frequency is 1/0.0625-16, and is equal to the lead of the lead screw, and it is determined that the eccentricity phenomenon exists. The eccentricity e was calculated to be 0.05mm according to the formula (10).
The device for detecting the eccentric degree of the screw based on damping recognition provided by the invention is described below, and the device for detecting the eccentric degree of the screw based on damping recognition described below and the method for detecting the eccentric degree of the screw based on damping recognition described above can be correspondingly referred to each other.
The embodiment of the invention provides a device for detecting the eccentricity degree of a lead screw based on damping identification, which comprises:
the first processing module is used for acquiring a current signal, a pulse signal and a feed shaft position signal in the motion process of the feed shaft so as to calculate a damping signal B (t) of the feed shaft in the motion process;
the second processing module is used for converting the damping signal B (t) to a time frequency domain to obtain B (f); if the period of B (f) is periodically changed and is equal to the time for feeding one lead screw lead by the X axis, the lead screw is eccentric, and the eccentric degree of the lead screw is determined according to the amplitude of B (f);
or, converting the damping signal to a position domain to obtain B (X), and converting B (X) to a position frequency domain to obtain B (f '), wherein if B (X) is periodically changed and the period is equal to the lead of the lead screw, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of B (f').
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A method for detecting the eccentric degree of a lead screw based on damping identification is characterized by comprising the following steps:
s1, collecting motor stator current, motor pulse signals and an X-axis feeding position in the moving process of a feeding shaft to calculate a damping signal B (t) of the feeding shaft in the moving process;
s2, converting B (t) to a time frequency domain to obtain B (f); if the B (t) is in periodic change and the period is equal to the time for feeding one lead screw lead by the X axis, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f) dominant frequency;
or, converting the damping signal to a position domain to obtain B (X), and converting B (X) to a position frequency domain to obtain B (f '), wherein if B (X) is periodically changed and the period is equal to the lead of the lead screw, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f').
2. The method of claim 1, wherein step S1 is preceded by the further step of: under the condition that the screw rods are eccentric to different degrees, operating a feeding system, and respectively calculating damping signals of the feeding shaft in the movement process under the eccentric distance of each screw rod;
converting the damping signal into a time frequency domain to obtain B (f), and calibrating the eccentricity of the screw rod and the amplitude of the main frequency of B (f) to obtain a relational expression between the eccentricity and the amplitude of the main frequency of B (f); or, converting the damping signal to a position domain to obtain B (X), converting the B (X) to a position frequency domain to obtain B (f '), and calibrating the eccentricity of the lead screw and the amplitude of the main frequency of the B (f'), so as to obtain a relational expression between the two.
3. The method of claim 2, wherein determining the degree of eccentricity of the lead screw based on the amplitude of the dominant frequency of b (f) comprises:
and determining the eccentricity degree of the screw rod according to the amplitude of the main frequency of B (f) and a relation between the eccentricity of the screw rod and the amplitude of the main frequency of B (f).
4. The method of claim 2, wherein said determining the degree of eccentricity of the screw from the amplitude of said B (f) primary frequency comprises:
and determining the eccentricity degree of the screw according to the amplitude of the B (f) main frequency and a relation between the eccentricity of the screw and the amplitude of the B (f) main frequency.
5. Method according to claim 3 or 4, wherein the relation between the amplitude of B (f) or B (f) primary frequency and the eccentricity of the screw is:
wherein A is the amplitude of B (f) or B (f)'.
6. A method according to claim 1 or 2, characterized in that the damping signal is calculated by the formula:
wherein B is the damping of the feed system, X is the X-axis feed position, KSFor converting the equivalent comprehensive rigidity of the feed system on the screw, h is the lead of the screw, KZFor axial stiffness of the feed system, JSIs equivalent moment of inertia, T, of the mechanical part of the feed systembFor starting torque of front and rear end bearings, TLIs the load torque;
θm(t) is the actual rotational angle of the motor shaft, θm(t) d θ f (t), d θ is the step angle of the motor, and f (t) is the collected motor pulse signal;
f is the driving force of the servo motor,
r represents the radius of rotation of the drive motor, KTIs a torque constant, I1Is the motor stator current.
7. The utility model provides a device based on eccentric degree of damping discernment detection lead screw which characterized in that includes:
the first processing module is used for acquiring a current signal, a pulse signal and a feed shaft position signal in the motion process of the feed shaft so as to calculate a damping signal B (t) of the feed shaft in the motion process;
the second processing module is used for converting the damping signal B (t) to a time frequency domain to obtain B (f); if the B (f) is in periodic change and the period is equal to the time for feeding one lead screw lead by the X axis, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the main frequency of the B (f);
or, converting the damping signal to a position domain to obtain B (X), and converting B (X) to a position frequency domain to obtain B (f '), wherein if B (X) is periodically changed and the period is equal to the lead of the lead screw, the lead screw is eccentric, and the eccentricity degree of the lead screw is determined according to the amplitude of the B (f').
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