长传动链摆头主轴高加速度启停控制策略研究

doi:10.3901/JME.2019.23.210

机械工程学报 ›› 2019, Vol. 55 ›› Issue (23): 210-215.doi: 10.3901/JME.2019.23.210

扫码分享

长传动链摆头主轴高加速度启停控制策略研究

吕盾¹, 张天宇¹, 郑贝贝², 赛云祥³, 赵万华¹

1. 西安交通大学机械制造系统工程国家重点实验室西安 710054;
2. 航空工业成都飞机工业(集团)有限责任公司成都 610073;
3. 沈机集团昆明机床股份有限公司昆明 650203

收稿日期:2019-02-15 修回日期:2019-06-29 出版日期:2019-12-05 发布日期:2020-02-18
通讯作者: 赵万华(通信作者),男,1965年出生,博士,长江学者特聘教授。主要研究方向为高效高精加工工艺与装备。E-mail:whzhao@xjtu.edu.cn
作者简介:吕盾,男,1978年出生,博士,副教授。主要研究方向为数控机床动态精度。E-mail:dunnlu@xjtu.edu.cn;张天宇,男,1994年出生,硕士。主要研究方向为数控机床运动控制。E-mail:zhangty018@163.com;郑贝贝,男,1987年出生,技术师。主要研究方向为数控机床诊断与调试。E-mail:13688374143@126.com;赛云祥,男,1986年出生,工程师。主要研究方向为数控机床设计。E-mail:18669051987@163.com
基金资助:
国家科技重大专项资助项目（2015ZX04001002）。

Control Strategy of Long-chain Tilting Head Spindle for High-acceleration Starts and Stops

Lü Dun¹, ZHANG Tianyu¹, ZHENG Beibei², SAI Yunxiang³, ZHAO Wanhua¹

1. State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710054;
2. AVIC Chengdu Aircraft Industrial(Group) Co., LTD., Chengdu 610073;
3. Shenji Group Kunming Machine Tool Company Limited, Kunming 650203

Received:2019-02-15 Revised:2019-06-29 Online:2019-12-05 Published:2020-02-18

摘要/Abstract

摘要： 摆头主轴是高附加值关键功能部件，在航空结构件加工机床中大量采用。摆头主轴的传动链长，对伺服控制系统施加的高加速启停指令响应能力低，造成启停时间长，影响加工效率。在辨识某摆头主轴机械传动环节模态的基础上，建立了机械动力学模型和伺服控制模型，分析发现机械传动环节低频和高频模态限制伺服控制带宽的提高，进而限制了启停加速度的提高。针对低频和高频模态的限制，提出模态滤波器与双T网络陷波滤波器综合控制策略，将伺服控制带宽由12 Hz提高到110 Hz，启动加速度由10 r/s²提高到40 r/s²，启动加速时间由7.05 s下降至1.76 s。

关键词: 摆头主轴, 长传动链, 启停加速度, 启停时间

Abstract: Tilting head spindles are long-chain mechanical spindles, which are widely used in machine tools for machining aviation parts. Due to the mechanical flexibility of the long transmission chain, the acceleration during starts and stops are usually low. Consequently, the productivity is seriously restricted because of the longtime of starts and stops. The dynamic model of mechanical transmission and its control block diagram are firstly established based on identifying the mechanical modes of a tilting head spindle. Secondly, the reasons for the limitation of the acceleration are analyzed. It is found that the control bandwidth of the tilting head spindle is restricted by the modes of the mechanical transmission, leading to the limitation of the acceleration. Finally, according to the modes of the mechanical transmission, the integrated control strategy combining the modal filter and the dual-T network notch filter are developed. The result show that the control bandwidth is improved significantly from 12 Hz to 110 Hz with the integrated control strategy. As a result, the acceleration is increased from 10 r/s² to 40 r/s², meanwhile the starting time is decreased from 7.05 s to 1.76 s.

Key words: tilting head spindle, long transmission chain, acceleration during starts and stops, starting and stopping time

中图分类号:

TG659

吕盾, 张天宇, 郑贝贝, 赛云祥, 赵万华. 长传动链摆头主轴高加速度启停控制策略研究[J]. 机械工程学报, 2019, 55(23): 210-215.

Lü Dun, ZHANG Tianyu, ZHENG Beibei, SAI Yunxiang, ZHAO Wanhua. Control Strategy of Long-chain Tilting Head Spindle for High-acceleration Starts and Stops[J]. Journal of Mechanical Engineering, 2019, 55(23): 210-215.

参考文献

[1] ALTINTAS Y, VERL A, BRECHER C, et al. Machine tool feed drives[J]. CIRP Annals-Manufacturing Technology, 2011, 60(2):779-796.
[2] URIARTE L, ZATARAIN M, AXINTE D, et al. Machine tools for large parts[J]. CIRP Annals-Manufacturing Technology, 2013, 62(2):731-750.
[3] VUKOSAVIC S N, STOJIC M R. Suppression of torsional oscillations in a high-performance speed servo drive[J]. Industrial Electronics, 1998, 45(1):108-117.
[4] MAGNANI G, ROCCO P. Mechatronic analysis of a complex transmission chain for performance optimization in a machine tool[J]. Mechatronics, 2010, 20(1):85-101.
[5] LI Yang, ZHAO Wanhua, LAN Shuhuai, et al. A review on spindle thermal error compensation in machine tools[J]. International Journal of Machine Tools & Manufacture, 2015, 95:20-38.
[6] GUO Qianjian, FAN Shuo, XU Rufeng, et al. Spindle thermal error optimization modeling of a five-axis machine tool[J]. Chinese Journal of Mechanical Engineering, 2017, 30(3):746-753.
[7] 孙岩辉,洪军,刘志刚,等. 考虑零部件制造误差的精密主轴几何回转精度计算方法[J]. 机械工程学报, 2017, 53(3):173-182. SUN Yanhui, HONG Jun, LIU Zhigang, et al. A calculating method for the geometric rotation accuracy of precision spindles considering the manufacturing errors of component parts[J]. Journal of Mechanical Engineering, 2017, 53(3):173-182.
[8] 侯志泉,熊万里,吕浪,等. 轴颈形状误差对液体静压主轴回转精度的影响[J]. 机械工程学报, 2016, 52(15):147-154. HOU Zhiquan, XIONG Wanli, LÜ Lang, et al. Study on the influence of the journal shape error for hydrostatic spindle rotational error motion[J]. Journal of Mechanical Engineering, 2016, 52(15):147-154.
[9] 陈雪峰,张兴武,曹宏瑞. 智能主轴状态监测诊断与振动控制研究进展[J]. 机械工程学报, 2018, 54(19):58-69. CHEN Xuefeng, ZHANG Xinwu, CAO Hongrui. Advances in condition monitoring, diagnosis and vibration control of smart spindles[J]. Journal of Mechanical Engineering, 2018, 54(19):58-69.
[10] 雷涛,曹华军,朱利斌,等. 交变冲击载荷下高速干切滚刀主轴系统振动响应特性研究[J]. 机械工程学报, 2017, 53(11):113-121. LEI Tao, CAO Huajun, ZHU Libin, et al. Vibration response characteristics research for the hob spindle system of high-speed dry hobbing under alternating impact load[J]. Journal of Mechanical Engineering, 2017, 53(11):113-121.
[11] CAO Hongrui, ZHANG Xinwu, CHEN Xuefeng. The concept and progress of intelligent spindles:A review[J]. International Journal of Machine Tools & Manufacture, 2017, 112:21-52.
[12] 卢秉恒,赵万华,张俊,等. 高速高加速下的进给系统机电耦合[J]. 机械工程学报, 2013, 49(6):2-11. LU Bingheng, ZHAO Wanhua, ZHANG Jun, et al. Electromechanical coupling in the feed system with high speed and high acceleration[J]. Journal of Mechanical Engineering, 2013, 49(6):2-11.
[13] 吕盾,李润泽,刘辉,等. 数控机床高速高加速进给下的跟随误差控制策略[J]. 西安交通大学学报, 2018, 52(12):25-31. LÜ Dun, LI Runze, LIU Hui, et al. A control strategy of tracking errors for numerical control machine tools at high speed and acceleration feeding[J]. Journal of Xi'an Jiaotong University, 2018, 52(12):25-31.
[14] FERREIRA J A, DORLAND P, BEER F G. An active inline notch filter for reducing acoustic noise in drives[J]. Industry Applications, 2007, 43(3):798-804.
[15] ERKORKMAZ K, KAMALZADEH A. High bandwidth control of ball screw drives[J]. CIRP Annals-Manufacturing Technology, 2006, 55(1):393-398.
[16] SUN Zheng, PRITSCHOW G, LECHLER A. Enhancement of feed drive dynamics using additional table speed feedback[J]. CIRP Annals-Manufacturing Technology, 2016, 65(1):357-360.
[17] SUN Zheng, ZAHN P, VERL A, et al. A new control principle to increase the bandwidth of feed drives with large inertia ratio[J]. The International Journal of Advanced Manufacturing Technology, 2017, 91:1747-1752.
[18] SUN Zheng, PRITSCHOW G, ZAHN P, et al. A novel cascade control principle for feed drives of machine tools[J]. CIRP Annals-Manufacturing Technology, 2018, 67(1):389-392.
[19] SENCER B, DUMANLI A. Optimal control of flexible drives with load side feedback[J]. CIRP Annals-Manufacturing Technology, 2017, 66(1):357-360.
[20] LIU Hui, ZHANG Jun, ZHAO Wanhua. An intelligent non-collocated control strategy for ball-screw feed drives with dynamic variations[J]. Engineering, 2017, 3(5):641-647.
[21] SAKHM N, TABARRAIE M, FEYZI M R. A new robust speed-sensorless control strategy for high-performance brushless DC motor drives with reduced torque ripple[J]. Control Engineering Practice, 2014, 24(3):42-54.
[22] BARATIERI C L, PINHEIRO H. New variable gain super-twisting sliding mode observer for sensorless vector control of nonsinusoidal back-EMF PMSM[J]. Control Engineering Practice, 2016, 52(7):59-69.
[23] GAN Minggang, ZHANG Meng, ZHENG Chunye, et al. An adaptive sliding mode observer over wide speed range for sensorless control of a brushless DC motor[J]. Control Engineering Practice, 2018, 77(8):52-62.

长传动链摆头主轴高加速度启停控制策略研究

Control Strategy of Long-chain Tilting Head Spindle for High-acceleration Starts and Stops

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	杨兆军, 何佳龙, 刘志峰, 李国发, 陈传海. 数控机床可靠性技术新进展[J]. 机械工程学报, 2023, 59(19): 152-163.
[2]	刘琪, 卢红, 张新宝, 代家舜. 基于机电-刚柔混合的H型双驱进给系统状态相关动态特性分析[J]. 机械工程学报, 2023, 59(3): 98-109.
[3]	黄祖广, 王舒辉, 王金江, 张凤丽. 基于RAMS的数控机床综合评价方法研究[J]. 机械工程学报, 2022, 58(9): 218-230.
[4]	刘阔, 宋磊, 陈虎, 韩伟, 崔益铭, 王永青. 机理驱动的数控机床进给轴时变误差建模和补偿方法[J]. 机械工程学报, 2022, 58(3): 251-258.
[5]	孟博洋, 李茂月, 刘献礼, WANG Lihui, LIANG S Y, 王志学. 机床智能控制系统体系架构及关键技术研究进展[J]. 机械工程学报, 2021, 57(9): 147-166.
[6]	康婷, 曹宏瑞. 切削工况下机床主轴回转精度动态预测方法[J]. 机械工程学报, 2020, 56(17): 240-248.
[7]	杨敏, 赵现朝, 钟泽杉, 岳义, 高鹏, 李乾坤. 复杂约束下的五轴数控系统自适应速度规划[J]. 机械工程学报, 2020, 56(11): 161-171.
[8]	李杰, 谢福贵, 刘辛军, 刘大炜, 李福华, 姜忠. 机电-刚柔耦合特性作用下线性进给系统动力学分析[J]. 机械工程学报, 2017, 53(17): 60-69.
[9]	苗恩铭龚亚运徐祗尚周小帅. 数控机床热误差补偿模型稳健性比较分析[J]. 机械工程学报, 2015, 51(7): 130-135.
[10]	李琼砚;陆际联. 平头铣刀加工曲面的无干涉路径规划[J]. , 1998, 34(1): 75-81.
[11]	陈良骥;程俊伟;王永章. 环形刀五轴数控加工刀具路径生成算法[J]. , 2008, 44(3): 205-212.
[12]	肖文磊;郇极. 切削加工机器人与CAD/CAM系统集成化[J]. , 2011, 47(15): 52-60.
[13]	杨长祺;贾维;刘海江. 多轴机床加工复杂自由曲面的刀底干涉避免[J]. , 2006, 42(6): 174-178.
[14]	樊留群;齐党进;沈斌;朱志浩. 五轴联动刀轴矢量平面插补算法[J]. , 2011, 47(19): 158-162.
[15]	金建新. 多轴CNC机床加工曲面上曲线的刀具姿态实时控制[J]. , 2001, 37(3): 85-88.