Evaluation method of eigenvalue for servo dynamic characteristics matching of five-axis CNC machine tools

Abstract

The present application particularly relates to a method for evaluating the servo dynamic characteristic matching characteristic value of a five-axis linkage CNC machine tool. The method comprises: analyzing the relationship between the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool and the S specimen contour error to obtain a relationship analysis result, then using the S specimen contour error to perform a sensitivity analysis on the servo dynamic characteristic matching characteristic value to obtain a sensitivity analysis result, and based on a preset multivariate linear regression algorithm, establishing an evaluation model for the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool according to the sensitivity analysis result and the S specimen contour error, so as to generate a corresponding evaluation result using the evaluation model. Thus, the problem of the lack of a direct quantitative evaluation of the matching degree of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen is solved, and the analysis results of the relationship and sensitivity between the S specimen and the servo dynamic characteristic matching characteristic value are evaluated by the evaluation model, thereby improving the dynamic accuracy test standard and evaluation accuracy of the S specimen.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control of five-axis linkage machine tools, and in particular to a method for evaluating servo dynamic characteristics matching characteristic values ​​of five-axis linkage CNC machine tools. Background Art

[0002] The process of optimizing machine tool servo dynamic characteristics matching primarily involves three steps: first, describing and evaluating the degree of servo dynamic characteristics matching; second, identifying the sources of servo dynamic characteristics mismatch; and finally, adjusting and optimizing the degree of matching. Rationally evaluating the degree of servo dynamic characteristics matching for multi-axis CNC machine tools and quickly and accurately identifying the sources of servo dynamic characteristics mismatch are crucial for achieving servo dynamic characteristics matching optimization.

[0003] Evaluating the factors affecting the dynamic performance of machine tools during operation has always been a key difficulty in optimizing the dynamic performance of machine tools. DBB (Dual Ball Bar) is one of the commonly used instruments for testing the dynamic performance of machine tools. Based on the study of the factors affecting the matching degree of servo dynamic characteristics of DBB, the tool tip of the machine tool is usually set to move along a circular trajectory, and the deviation of the tool tip along the DBB axis during the movement is used as the basis for judging the operating status of the machine tool. RTCP (Rotation toolcenter point) test is one of the most effective means of testing the dynamic performance of five-axis linkage CNC machine tools through experimental instruments. In the study of the factors affecting the matching degree of servo dynamic characteristics based on RTCP, the tool tip is set to the same point when each axis of the machine tool moves, and the actual three-dimensional position deviation of the tool tip measured during the movement of the machine tool is used as the measure of the dynamic performance of the machine tool.

[0004] The S-specimen is an internationally standardized test piece for dynamic accuracy testing of machine tools. Due to its large opening and closing angle variations and the presence of twist angles, the S-specimen not only shares the advantages of traditional dynamic accuracy test pieces but also offers significant advantages over traditional test pieces in determining the degree of matching between servo dynamic characteristics across multiple axes. Compared to DBB and RTCP tests, the S-specimen machining test provides a more realistic and intuitive reflection of a machine tool's dynamic machining accuracy, and therefore holds great promise for future application.

[0005] In related technologies, in the research on the evaluation and identification of the matching degree of servo dynamic characteristics based on S specimens, most of the correlation studies are qualitative traceability, and there are few studies that achieve accurate quantitative identification. Most experiments can only verify the accuracy of mathematical deductions through single-factor experiments.

[0006] However, since the error sources of mismatch in the servo dynamic characteristics of five-axis linkage CNC machine tools are numerous and strongly coupled, and the mapping relationship between the machining accuracy of the S specimen and the degree of matching of the servo dynamic characteristics of the five-axis linkage CNC machine tools is highly nonlinear, it is impossible to verify the accuracy of the mathematical deduction through a single-factor experiment, resulting in a lack of direct quantitative evaluation of the matching degree of the servo dynamic characteristics of the five-axis linkage CNC machine tools based on the dynamic accuracy test results of the S specimen. Summary of the Invention

[0007] The present application provides a method for evaluating the matching characteristic values ​​of the servo dynamic characteristics of a five-axis linkage CNC machine tool, so as to solve the problem of the lack of direct quantitative evaluation of the matching degree of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen.

[0008] The first embodiment of the present application provides a method for evaluating servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool, comprising the following steps:

[0009] The relationship between the matching eigenvalues ​​of the servo dynamic characteristics of the five-axis CNC machine tool and the contour error of the S specimen is analyzed, and the relationship analysis results are obtained;

[0010] Based on the relationship analysis result, using the S specimen contour error to perform sensitivity analysis on the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool to obtain a sensitivity analysis result; and

[0011] Based on a preset multivariate linear regression algorithm, an evaluation model for the servo dynamic characteristics matching eigenvalues ​​of the five-axis linkage CNC machine tool is established according to the sensitivity analysis results and the S specimen contour error, so as to generate an evaluation result of the servo dynamic characteristics matching eigenvalues ​​of the five-axis linkage CNC machine tool using the evaluation model.

[0012] According to one embodiment of the present application, the analyzing the relationship between the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool and the S specimen contour error includes:

[0013] Analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value;

[0014] Analyzing the servo dynamic characteristic matching error angle and the tool axis trace surface to obtain a second action relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface;

[0015] The tool axis trace surface and the S specimen contour error are analyzed to obtain a third action relationship between the tool axis trace surface and the S specimen contour error.

[0016] According to one embodiment of the present application, analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value includes:

[0017] receiving a linear command trajectory of a tool of the five-axis linkage CNC machine tool at multiple slopes, and analyzing the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle according to the linear command trajectory, thereby obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the linear command trajectory;

[0018] The curve command trajectory of the five-axis linkage CNC machine tool tool at multiple slopes is received, and according to the servo dynamic characteristic matching characteristic value, the relationship between the servo dynamic characteristic matching error angle and the slope on the curve command trajectory is obtained, thereby analyzing and obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the curve command trajectory.

[0019] According to one embodiment of the present application, analyzing the servo dynamic characteristic matching error angle and the tool axis trace surface to obtain a second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface includes:

[0020] Obtaining a tool tip point position error and a tool axis vector error of the tool, and obtaining any tool axis position on the tool axis trace surface according to the tool tip point position error and the tool axis vector error;

[0021] Obtaining a curvature coefficient of the tool axis trace surface, and obtaining an error value of the tool axis trace surface according to the curvature coefficient;

[0022] A tool axis trace surface is generated based on the non-developable ruled surface of the S specimen, and a second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface is obtained in combination with an error value of the tool axis trace surface.

[0023] According to one embodiment of the present application, analyzing the error between the tool axis trace surface and the S specimen profile to obtain a third interaction relationship between the tool axis trace surface and the S specimen profile error includes:

[0024] Obtaining the surface parameters of the tool axis trace surface after side milling by a cylindrical milling cutter, and analyzing the mapping relationship between the surface parameters and the tool axis trace surface;

[0025] A third interaction relationship between the tool axis trace surface and the S specimen contour error is obtained according to the mapping relationship.

[0026] According to one embodiment of the present application, based on the relationship analysis result, sensitivity analysis of the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool is performed using the S specimen contour error, including:

[0027] Obtaining a tool position slope vector of the five-axis CNC machine tool, and clustering the tool positions of the five-axis CNC machine tool according to the tool position slope vector and a clustering algorithm to obtain a tool position clustering result;

[0028] Based on a cluster analysis method, the tool axis trace surface corresponding to the tool position in each cluster is divided into multiple target matching areas, and multiple target matching areas of the S specimen contour are generated based on the isometric mapping principle according to the multiple target matching areas;

[0029] Based on the multiple target matching areas of the S specimen profile, multiple target error measurement points are selected in each target matching area, and the sensitivity of each target matching area of ​​the S specimen profile to the servo dynamic characteristic matching characteristic value is analyzed according to each target error measurement point.

[0030] According to one embodiment of the present application, establishing an evaluation model for the servo dynamic characteristics matching characteristic value of the five-axis linkage CNC machine tool based on the sensitivity analysis result and the S specimen contour error includes:

[0031] Obtaining the position coordinates of each target error measurement point in the workpiece coordinate system and the normal vector of the S test piece contour at each target error measurement point;

[0032] The S specimen contour error is obtained according to multiple target error measurement points and the normal vector of each target error measurement point, and an evaluation model for the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool is established according to the S specimen contour error and the sensitivity analysis result.

[0033] According to the evaluation method for the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool of the embodiment of the present application, the relationship between the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool and the S specimen contour error is analyzed to obtain the relationship analysis result, and then the S specimen contour error is used to perform sensitivity analysis on the servo dynamic characteristic matching characteristic value to obtain the sensitivity analysis result. Based on the preset multivariate linear regression algorithm, an evaluation model for the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool is established according to the sensitivity analysis result and the S specimen contour error, so as to generate the corresponding evaluation result using the evaluation model. Thus, the problem of the lack of direct quantitative evaluation of the matching degree of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen is solved. The relationship between the S specimen and the servo dynamic characteristic matching characteristic value and the sensitivity analysis result are evaluated by the evaluation model, thereby improving the dynamic accuracy test standard and evaluation accuracy of the S specimen.

[0034] A second embodiment of the present application provides a device for evaluating servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool, comprising:

[0035] The first analysis module is used to analyze the relationship between the matching characteristic value of the servo dynamic characteristics of the five-axis linkage CNC machine tool and the contour error of the S specimen to obtain the relationship analysis results;

[0036] A second analysis module is configured to perform a sensitivity analysis on the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool based on the relationship analysis result and using the S specimen contour error to obtain a sensitivity analysis result; and

[0037] A generation module is used to establish an evaluation model for the servo dynamic characteristics matching characteristic value of the five-axis linkage CNC machine tool based on a preset multivariate linear regression algorithm, according to the sensitivity analysis results and the S specimen contour error, so as to use the evaluation model to generate an evaluation result of the servo dynamic characteristics matching characteristic value of the five-axis linkage CNC machine tool.

[0038] According to one embodiment of the present application, the first analysis module is specifically configured to:

[0039] Analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value;

[0040] Analyzing the servo dynamic characteristic matching error angle and the tool axis trace surface to obtain a second action relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface;

[0041] The tool axis trace surface and the S specimen contour error are analyzed to obtain a third action relationship between the tool axis trace surface and the S specimen contour error.

[0042] According to one embodiment of the present application, the first analysis module is specifically configured to:

[0043] receiving a linear command trajectory of a tool of the five-axis linkage CNC machine tool at multiple slopes, and analyzing the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle according to the linear command trajectory, thereby obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the linear command trajectory;

[0044] The curve command trajectory of the five-axis linkage CNC machine tool tool at multiple slopes is received, and according to the servo dynamic characteristic matching characteristic value, the relationship between the servo dynamic characteristic matching error angle and the slope on the curve command trajectory is obtained, thereby analyzing and obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the curve command trajectory.

[0045] According to one embodiment of the present application, the first analysis module is specifically configured to:

[0046] Obtaining a tool tip point position error and a tool axis vector error of the tool, and obtaining any tool axis position on the tool axis trace surface according to the tool tip point position error and the tool axis vector error;

[0047] Obtaining a curvature coefficient of the tool axis trace surface, and obtaining an error value of the tool axis trace surface according to the curvature coefficient;

[0048] A tool axis trace surface is generated based on the non-developable ruled surface of the S specimen, and a second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface is obtained in combination with an error value of the tool axis trace surface.

[0049] According to one embodiment of the present application, the first analysis module is specifically configured to:

[0050] Obtaining the surface parameters of the tool axis trace surface after side milling by a cylindrical milling cutter, and analyzing the mapping relationship between the surface parameters and the tool axis trace surface;

[0051] A third interaction relationship between the tool axis trace surface and the S specimen contour error is obtained according to the mapping relationship.

[0052] According to one embodiment of the present application, the second analysis module is specifically configured to:

[0053] Obtaining a tool position slope vector of the five-axis CNC machine tool, and clustering the tool positions of the five-axis CNC machine tool according to the tool position slope vector and a clustering algorithm to obtain a tool position clustering result;

[0054] Based on a cluster analysis method, the tool axis trace surface corresponding to the tool position in each cluster is divided into multiple target matching areas, and multiple target matching areas of the S specimen contour are generated based on the isometric mapping principle according to the multiple target matching areas;

[0055] Based on the multiple target matching areas of the S specimen profile, multiple target error measurement points are selected in each target matching area, and the sensitivity of each target matching area of ​​the S specimen profile to the servo dynamic characteristic matching characteristic value is analyzed according to each target error measurement point.

[0056] According to one embodiment of the present application, the generating module is specifically configured to:

[0057] Obtaining the position coordinates of each target error measurement point in the workpiece coordinate system and the normal vector of the S test piece contour at each target error measurement point;

[0058] The S specimen contour error is obtained according to multiple target error measurement points and the normal vector of each target error measurement point, and an evaluation model for the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool is established according to the S specimen contour error and the sensitivity analysis result.

[0059] According to the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value evaluation device of the embodiment of the present application, the relationship between the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value and the S specimen contour error is analyzed to obtain the relationship analysis result, and then the S specimen contour error is used to perform sensitivity analysis on the servo dynamic characteristic matching characteristic value to obtain the sensitivity analysis result. Based on the preset multivariate linear regression algorithm, an evaluation model for the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value is established according to the sensitivity analysis result and the S specimen contour error, so as to generate the corresponding evaluation result using the evaluation model. Thus, the problem of the lack of direct quantitative evaluation of the matching degree of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen is solved. The relationship between the S specimen and the servo dynamic characteristic matching characteristic value and the sensitivity analysis result are evaluated by the evaluation model, thereby improving the dynamic accuracy test standard and evaluation accuracy of the S specimen.

[0060] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the method for evaluating the servo dynamic characteristic matching characteristic values ​​of a five-axis linkage CNC machine tool as described in the above embodiment.

[0061] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the method for evaluating the servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool as described in the above embodiment.

[0062] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0064] Figure 1Flowchart of a method for evaluating servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool according to an embodiment of the present application:

[0065] Figure 2 Schematic diagram of the influence of the servo dynamic characteristic matching characteristic value on the servo dynamic characteristic matching error angle according to one embodiment of the present application;

[0066] Figure 3 Schematic diagram of the relationship between the tool axis trace surface and the curved surface obtained after side milling when machining an S specimen according to one embodiment of the present application;

[0067] Figure 4 Schematic diagram of the relationship between the servo dynamic characteristic matching characteristic value and the surface profile error of the S specimen according to one embodiment of the present application;

[0068] Figure 5 Schematic diagram of classification results obtained by K-means clustering of tool positions for machining S specimens according to one embodiment of the present application;

[0069] Figure 6 The tool axis trace of the S specimen processed according to one embodiment of the present application faces ξ yx ,ξ zx ,ξ ax and ξ cx Sensitivity diagram of ;

[0070] Figure 7 Schematic diagram of the surface area division of the A side of the S test piece according to one embodiment of the present application;

[0071] Figure 8 Schematic diagram of the installation position of an S test piece to be processed on an AC rotary five-axis linkage CNC machine tool according to one embodiment of the present application;

[0072] Figure 9 Schematic diagram comparing cluster analysis results before and after correction according to one embodiment of the present application;

[0073] Figure 10 Schematic diagram of the relative position relationship between the S specimen profile error measurement points and each tool position according to one embodiment of the present application;

[0074] Figure 11 Schematic diagram of the contour error of S specimens processed in various experimental groups at various measuring points according to one embodiment of the present application;

[0075] Figure 12 Schematic diagram of a servo dynamic characteristic matching evaluation method for a five-axis linkage CNC machine tool based on an S-specimen contour error according to one embodiment of the present application;

[0076] Figure 13Schematic diagram of a block diagram of a device for evaluating servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool according to an embodiment of the present application;

[0077] Figure 14 Schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0078] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0079] The following describes a method for evaluating the servo dynamic characteristic matching eigenvalues ​​of a five-axis linkage CNC machine tool according to an embodiment of the present invention with reference to the accompanying drawings. To address the problem mentioned in the background art of the lack of a method for directly quantitatively evaluating the degree of matching of the servo dynamic characteristics based on the dynamic accuracy test results of an S specimen, the present application provides a method for evaluating the servo dynamic characteristic matching eigenvalues ​​of a five-axis linkage CNC machine tool. In this method, the relationship between the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool and the contour error of the S specimen is analyzed to obtain a relationship analysis result. A sensitivity analysis is then performed on the servo dynamic characteristic matching eigenvalues ​​using the contour error of the S specimen to obtain a sensitivity analysis result. Based on a preset multivariate linear regression algorithm, an evaluation model for the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool is established based on the sensitivity analysis result and the contour error of the S specimen, and a corresponding evaluation result is generated using the evaluation model. Thus, the problem of the lack of a method for directly quantitatively evaluating the degree of matching of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen is solved. The relationship between the servo dynamic characteristic matching eigenvalues ​​of the S specimen and the sensitivity analysis result is evaluated using the evaluation model, thereby improving the dynamic accuracy test standard and evaluation accuracy of the S specimen.

[0080] Figure 1 It is a flow chart of a method for evaluating servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool according to an embodiment of the present invention.

[0081] like Figure 1 As shown, the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value evaluation method includes the following steps:

[0082] In step S101, the relationship between the matching characteristic value of the servo dynamic characteristics of the five-axis linkage CNC machine tool and the contour error of the S test piece is analyzed to obtain a relationship analysis result.

[0083] Furthermore, in some embodiments, the relationship between the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool and the S specimen contour error is analyzed, including: analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching eigenvalue to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching eigenvalue; analyzing the servo dynamic characteristic matching error angle and the tool axis trace surface to obtain a second action relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface; analyzing the tool axis trace surface and the S specimen contour error to obtain a third action relationship between the tool axis trace surface and the S specimen contour error.

[0084] Specifically, the embodiment of the present application mainly studies an evaluation method for the servo dynamic characteristic matching eigenvalues ​​of a five-axis linkage CNC machine tool, thereby providing theoretical support for the optimization of the dynamic performance of the machine tool based on the dynamic accuracy test results of the S specimen. Therefore, the embodiment of the present application needs to evaluate the relationship between the S specimen contour error and the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool, as well as the sensitivity of the S specimen contour error to the servo dynamic characteristic matching eigenvalues. During the evaluation process, it is necessary to analyze the relationship between the S specimen contour error and the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool through three aspects to obtain the relationship analysis results.

[0085] Furthermore, the embodiment of the present application first needs to analyze the relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching eigenvalue to obtain the first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching eigenvalue; secondly, it is necessary to analyze the relationship between the servo dynamic characteristic matching error angle and the tool axis trace to obtain the second action relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface; finally, it is necessary to analyze the relationship between the tool axis trace surface and the S specimen contour error to obtain the third action relationship between the tool axis trace surface and the S specimen contour error.

[0086] Furthermore, in some embodiments, the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value are analyzed to obtain a first interaction relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value, including: receiving a straight line instruction trajectory of a five-axis linkage CNC machine tool tool at multiple slopes, analyzing the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle according to the straight line instruction trajectory, thereby obtaining a first interaction relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the straight line instruction trajectory; receiving a curve instruction trajectory of a five-axis linkage CNC machine tool tool at multiple slopes, obtaining a relationship between the servo dynamic characteristic matching error angle and the slope on the curve instruction trajectory according to the servo dynamic characteristic matching characteristic value, thereby analyzing to obtain the first interaction relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the curve instruction trajectory.

[0087] Specifically, in the embodiment of the present application, the servo dynamic characteristics matching quantitative description method based on the servo dynamic characteristics matching error angle and the servo dynamic characteristics matching characteristic value is known to be the servo dynamic characteristics matching error angle θ and the servo dynamic characteristics matching characteristic value ξ. yx The relationship between them is shown by the following formula:

[0088]

[0089] Among them, S p (u,τ) is the cosine value of the servo dynamic characteristics matching error angle θ; ξ yx The servo dynamic characteristics matching characteristic value of the x-axis to the y-axis, whose size is w when τ is equal to the servo period y (τ) / w x (τ), τ is the servo cycle of the CNC system, w y (τ) is the transfer function between the y-axis tracking error and the input command when the servo cycle is t, divided by the Latent factor and then subjected to the Latent inverse transformation, w x (τ) is the function obtained by dividing the transfer function between the x-axis tracking error and the input command by the pull-type factor and then performing the pull-type inverse transformation when the servo cycle is t; k 2 (u) is the square of the slope; u is the surface parameter.

[0090] Furthermore, based on the above formula, yx To S p The influence law of (u,τ), Figure 2 (a) shows the S under the straight line command trajectory with different slopes |k(u)| p (u,τ) and ξ yx The relationship between them can be expressed as follows: when the |k(u)| value of the linear instruction trajectory is too small, S p (u,τ) versus ξ yx The change of |k(u)| is not sensitive, that is, the change of the normal contour error of the command trajectory caused by the difference in the servo dynamic characteristics between the x-axis and the y-axis is not obvious; when the value of |k(u)| is around 1, S p (u,τ) versus ξ yx will be very sensitive to changes in |k(u)|; when |k(u)| is large, S p (u,τ) will only be yx Sensitive to changes in the interval [0,1].

[0091] Optionally, the embodiment of the present application Figure 2 (b) shows the yx Under different values ​​of S p The relationship between (u,τ) and the value of |k(u)| at a point on the curve command trajectory C(u) is given by Figure 2(b) Analysis shows that when |k(u)| is too large or too small, ξ yx To S p The influence of (u,τ) will become very weak. Therefore, it can be concluded from the above analysis that by comparing the normal contour error E(u) of the command trajectory generated by the five-axis linkage CNC machine tool under two different curve command trajectories |k(u)|, the error of ξ can be realized. yx For example, when the machine tool moves on a curve instruction trajectory C1 with a slope k value of 1, the normal contour error of the curve instruction trajectory is E1. When the machine tool moves on a curve instruction trajectory C2 with a slope k value of 5, the normal contour error of the curve instruction trajectory is E2. If E1>E2, and E2≈0, then ξ yx >1; if E1>E2 and E1>>0,E2>>0, then ξ yx <1, thus, through the above analysis, a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value can be obtained.

[0092] Furthermore, in some embodiments, the servo dynamic characteristic matching error angle and the tool axis trace surface are analyzed to obtain a second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface, including: obtaining the tool tip point position error and the tool axis vector error of the tool, and obtaining any tool axis posture on the tool axis trace surface based on the tool tip point position error and the tool axis vector error; obtaining the surface coefficient of the tool axis trace surface, and obtaining the error value of the tool axis trace surface based on the surface coefficient; based on the tool axis trace surface generated by the non-developable ruled surface of the S specimen, the second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface is obtained in combination with the error value of the tool axis trace surface.

[0093] Specifically, the tool axis trace surface in the embodiments of this application refers to the curved surface formed by the envelope of the tool axis's motion trajectory. Based on the side milling processing principle of a five-axis CNC machine tool, it is known that there is a mapping relationship between the contour error of the tool axis trace surface and the contour error of the actual machined surface. Therefore, the embodiments of this application clarify the influence of the servo dynamic characteristics matching error angle on the contour error of the tool axis trace surface and are a key step in studying the relationship between the servo dynamic characteristics matching error angle and the contour error of the S specimen.

[0094] Specifically, in the embodiment of the present application, for any tool axis position on the tool axis trace surface, due to the existence of tool tip position error and tool axis vector error, a position error of a point on the tool axis will be caused, and its error vector ΔP(u,v) is expressed as follows:

[0095] ΔP(u,v)=ΔC(u)+v·h0·ΔO(u)(0≤u≤1,0≤v≤1); (2)

[0096] Among them, u and v are surface parameters, u corresponds to the corresponding position of the upper and lower directrixes on the tool axis trace surface, and v controls the corresponding position on the tool axis; C(u) is the curve command trajectory; ΔC(u) is the position error vector of the tool tip relative to the upper or lower directrix as the command trajectory; O(u) is the tool axis vector function x, ΔO(u) is the error vector of the tool axis vector; h0 is the tool length.

[0097] Furthermore, in the embodiment of the present application, for a point on the tool axis trace surface where u=u0, v=v0, the profile error expression along the main normal direction of the surface can be obtained from formula (2):

[0098]

[0099] Among them, u0 and v0 are surface parameters, ΔP(u0,v0) is the error vector, n(u0,v0) is the unit principal normal direction vector at the point, C(u0) is the curve command trajectory, ΔC(u0) is the position error vector of the tool tip relative to the upper or lower directrix as the command trajectory, C′(u0) is the unit tangent vector of the command trajectory at the point, O(u0) is the tool axis vector function x, ΔO(u0) is the error vector of the tool axis vector, O′(u0) is the rate of change vector of the tool axis direction corresponding to the point, m0 = ||(C′(u0)+v0·h0·O′(u0))×O(u0)||2, and h0 is the tool length.

[0100] Therefore, from the analysis of formula (2) and formula (3), it can be seen that the coefficients of all the order terms of the variable v are zero, which is a necessary condition for the tool axis profile error to be always equal to zero; from formula (1), it can be seen that for the five-axis linkage CNC machine tool, when each translation axis and each rotation axis have the same servo dynamic characteristics so that Sp = 1, ΔC(u0) = c1·C′(u0) and ΔO(u0) = c2·O′(u0), where c1 and c2 are constants. At this time, the coefficients of the zero-order terms and the quadratic terms of v are all zero, and the coefficients of the linear terms about v can be expressed as follows:

[0101]

[0102] Furthermore, for the tool axis trace surface generated by the non-developable ruled surface of the S specimen, when the contour error at any point on it is zero, Eq. (4) must be always equal to zero, that is, c1 = c2. Therefore, we can obtain:

[0103]

[0104] Among them, e x (t0) is the tracking error function in the X-axis time domain, t0 is the time when the movement reaches this point, e y (t0) is the tracking error function in the Y-axis time domain, e c(t0) is the tracking error function in the C-axis time domain, e a (t0) is the tracking error function of the A-axis in the time domain, x′(u0) is the derivative of the X-axis command trajectory curve at this point, y′(u0) is the derivative of the Y-axis command trajectory curve at this point, c′(u0) is the derivative of the C-axis command trajectory curve at this point, and a′(u0) is the derivative of the A-axis command trajectory curve at this point.

[0105] By combining the above equations, c1 / c2 can be transformed into:

[0106]

[0107] Among them, x′(u0) is the derivative of the X-axis command trajectory curve at this point, w x (t) is the transfer function between the lower X-axis tracking error and the input command divided by the Latent factor and then obtained by the Latent inverse transformation, w c (t) is the transfer function between the C-axis tracking error and the input command divided by the Laplace factor and then obtained by the Laplace inverse transformation.

[0108] It can be concluded that when the five-axis linkage CNC machine tool in the embodiment of the present application side mills a non-developable ruled surface, the necessary condition for the normal profile error of the tool axis trace surface to be always equal to zero is that not only each translation axis and each rotation axis are required to have the same servo dynamic characteristics respectively, but also the translation axis and the rotation axis are required to have the same servo dynamic characteristics on this basis.

[0109] Furthermore, in some embodiments, the tool axis trace surface and the S specimen contour error are analyzed to obtain a third interaction relationship between the tool axis trace surface and the S specimen contour error, including: obtaining the surface parameters of the tool axis trace surface after side milling by a cylindrical milling cutter, and analyzing the mapping relationship between the surface parameters and the tool axis trace surface; obtaining the third interaction relationship between the tool axis trace surface and the S specimen contour error based on the mapping relationship.

[0110] Specifically, in the embodiment of the present application, based on the tool position file of the S specimen, the tool axis trace surface S can be obtained by continuous interpolation of discrete tool positions. tool According to the side milling principle of five-axis CNC machine tools, there is a mapping relationship between the contour error of the tool axis surface and the contour error of the actual machined surface.

[0111] The curved surface obtained by side milling with a cylindrical milling cutter It can be expressed as follows:

[0112]

[0113] Among them, R cutter is the radius of the cylindrical milling cutter, is the tool axis trace surface S toolThe normal unit vector on (u,v).

[0114] in, The expression is:

[0115]

[0116] Among them, S u is the partial derivative of the tool axis trace with respect to u, l(u) is abbreviation of .

[0117] For example, take a set of S specimen processing tool location files generated by the single point offset method as an example. The cylindrical milling cutter used for side milling has a tool radius Rcutter = 10mm. Take the tool tip point and another point on the tool axis that is 40mm away from the tool tip point, and use the line segment between the two points as the equivalent tool axis. The surface after side milling can be obtained as follows: Figure 3 As shown in Figure 3, based on the relationship between the tool axis trace surface and the surface obtained after side milling, the influence of the tool axis trace surface profile error on the surface profile error of the S specimen after processing can be obtained.

[0118] Further, if Figure 4 As shown, the above content can be combined to sort out the relationship between the servo dynamic characteristic matching characteristic value and the S specimen surface profile error. In this embodiment of the application, the four servo dynamic characteristic matching characteristic values ​​ξ of the five-axis linkage CNC machine tool are taken as the reference. yx ,ξ zx ,ξ ax ,ξ cx By influencing the servo dynamic characteristics to match the error angle S p,xy (u,τ),S p,xz (u,τ),S p,xa (u,τ),S p,xc The size of (u,τ) then affects the position of each tool axis, thereby causing contour error on the tool axis trace surface. Finally, the contour error of the tool axis trace surface is reflected on the contour error of the S specimen through isometric mapping, thereby obtaining the interaction relationship between the tool axis trace surface and the contour error of the S specimen.

[0119] Furthermore, evaluating the matching degree of the machine tool servo dynamic characteristics based on the actual machining accuracy performance of the machine tool is the theoretical basis for the subsequent optimization of the machine tool dynamic performance, which is of great significance to improving the dynamic accuracy of the machine tool. Therefore, the contour error on the surface of the S specimen after machining is used to evaluate the matching characteristic value of the servo dynamic characteristics of the five-axis linkage CNC machine tool. Compared with the evaluation based on the tool axis trace surface, on the one hand, the surface contour error of the S specimen is more intuitive and can be obtained through direct measurement without the need for complex data processing; on the other hand, the surface contour error of the S specimen can more truly reflect the machining accuracy of the machine tool under the actual cutting state. Therefore, the embodiment of the present application uses the surface contour error of the S specimen as the raw data as a method for evaluating the matching characteristic value of the servo dynamic characteristics of the five-axis machine tool.

[0120] In step S102, based on the relationship analysis result, the S specimen contour error is used to perform sensitivity analysis on the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool to obtain a sensitivity analysis result.

[0121] Furthermore, in some embodiments, based on the relationship analysis results, the S specimen contour error is used to perform a sensitivity analysis on the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool, including: obtaining the tool position slope vector of the five-axis linkage CNC machine tool, and clustering the tool positions of the five-axis linkage CNC machine tool according to the tool position slope vector and the clustering algorithm to obtain the tool position cluster division results; dividing the tool axis trace surface corresponding to the tool position in each cluster into multiple target matching areas based on the clustering analysis method, and generating multiple target matching areas of the S specimen contour based on the equidistant mapping principle according to the multiple target matching areas; selecting multiple target error measurement points in each target matching area based on the multiple target matching areas of the S specimen contour, and analyzing the sensitivity of each target matching area of ​​the S specimen contour to the servo dynamic characteristic matching eigenvalue according to each target error measurement point.

[0122] Specifically, after the above-mentioned analysis of the relationship between the contour error of the S specimen and the servo dynamic characteristic matching characteristic value, based on the relationship analysis results, the embodiment of the present application also needs to use the contour error of the S specimen to perform a sensitivity analysis on the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool. The embodiment of the present application takes the G-code tool position file generated by the SPO (Single Points Offset) algorithm with the help of CAM (Computer Aided Manufacturing) software when the five-axis linkage CNC machine tool processes the A surface of the S specimen as an example. According to the above-mentioned conclusions, since there are differences in |k(u)| at various locations on the command trajectory curve input during side milling of the S specimen, the four servo dynamic characteristic matching characteristic values ​​ξ of the five-axis linkage CNC machine tool with the x-axis as the reference at various locations on the tool axis trace surface. yx ,ξ zx ,ξ ax,ξ cx The sensitivity is not the same. Let the position vector of the m-th tool position be Q m =(x m ,y m ,z m ,α m ,γ m ), where x m 、y m and z m are the x, y, and z coordinates of the tool tip in the workpiece coordinate system; α m with γ m are the angles of rotation of the tool axis around the x-axis and the z-axis with the tool tip as the center; the |k(u)| of the four two-axis command trajectories corresponding to the m-th tool posture is written in vector form and recorded as K m =(k m,xy ,k m,xz ,k m,xa ,k m,xc ), where k m,xy =|(y m+1 -y m ) / (x m+1 -x m )|,k m,xz =|(z m+1 -z m ) / (x m+1 -x m )|,k m,xa =|(α m+1 -α m ) / (x m+1 -x m )| and k m,xc =|(γ m+1 -γ m ) / (x m+1 -x m )|.

[0123] Furthermore, cluster analysis, as an analytical method for discovering internal correlations in data, has been widely used in fields such as data analysis and data mining. Among them, the K-means clustering algorithm is one of the classic partition-based clustering algorithms, and is characterized by ease of implementation, parallel processing, and intuitive results. The slope vector K at different tool positions is used as the data point to be classified. Based on the theoretical conclusions drawn from the relationship between the tool axis trace surface and the S specimen surface profile error, the initial core set and the number of clusters are determined. The semi-supervised K-means clustering algorithm is used to divide each tool position into different clusters, that is, the tool axis trace surface is divided into different target matching regions, and then the S specimen surface profile is divided into multiple target matching regions using the isometric mapping principle.

[0124] Specifically, the embodiment of the present application uses the servo dynamic characteristics matching error angle S between the x-axis and the y-axis. p,xy (u,τ) as an example, Figure 2 It can be seen that according to the different sensitivities, the tool axis trace can be faced to ξ yx Sensitive area yx The areas with a value greater than 1 can be roughly divided into two categories: yx The bidirectional sensitive area is characterized by yx <1 or ξ yx >1 will cause S p,xy The other type is the obvious change of (u,τ); yx The unidirectional sensitive area is characterized by the fact that only when ξ yx <1 will cause S p,xy (u,τ) changes significantly, while ξ yx >1 hour S p,xy (u,τ) is affected by ξ yx Therefore, for the four servo dynamic characteristics matching eigenvalues ​​ξ in the five-axis linkage CNC machine tool yx ,ξ zx ,ξ ax and ξ cx , each of them must construct two initial central data points corresponding to the above two types of regions, so the eight initial central data points can be used to form the initial core set C, which can be expressed as:

[0125] C={C xy,1 ,C xy,2 ,C xz,1 ,C xz,2 ,C xa,1 ,C xa,2 ,C xc,1 ,C xc,2}.; (9)

[0126] in,

[0127] Furthermore, the embodiment of the present application sets the initial core set C in the above manner based on two reasons. One is that the K of each tool position m The distribution of vectors in the four-dimensional data space will not affect the initial core set, making the clustering results more general and objectively reflecting the distribution characteristics of the data itself. Secondly, it reflects the expectations for the clustering analysis results. The most ideal clustering result is that the tool axis trace surface is divided into 8 types of single-type areas that are sensitive to a single factor, thereby simplifying the subsequent evaluation process.

[0128] Furthermore, the objective optimization function of the cluster analysis algorithm used in the embodiment of the present application is as follows:

[0129]

[0130] Where C={c n , n=1,2,3,L,8} is the core set, D(K m ,c n ) is the distance function, K m is the classification object, δ mn K m The membership factor of mn and D(K m ,c n ) can be expressed as:

[0131]

[0132] D(K m ,c n )=(|k m,xy -c n,1 | q +|k m,xz -c n,2 | q +|k m,xa -c n,3 | q +|k m,xc -c n,4 | q ) 1 / q .; (12)

[0133] Among them, c n =[c n,1 c n,2 c n,3 c n,4 ], q is 2.

[0134] Furthermore, after the tool positions are classified by the above cluster analysis algorithm, the embodiment of the present application obtains Figure 5 The classification results, such as Figure 5 As shown in the figure, each point represents the distribution of the tool tip position in the XY plane under different tool postures. The color of each point represents the final cluster to which it belongs. Cluster1, Cluster2, Cluster5, Cluster6, Cluster7 and Cluster8 are respectively xy,1 , C xy,2 , C xa,1 , C xa,2 , C xc,1 and C xc,2 The final cluster is formed by the initial center point. According to the classification results, the position change of the tool position in the z-axis direction of the S specimen generated by the SPO algorithm is always small, which leads to the difference between the various regions on the tool axis surface and the Sp,xz (u,τ) is not very sensitive. The only few areas with certain sensitivity are classified into other clusters due to the existence of classification tolerance. Therefore, C xz,1 and C xz,2 Clusters Cluster3 and Cluster4, which are the initial center points, are empty sets. From the above definition of the slope vector K, we know that k m,xy , k m,xz , k m,xa and k m,xc All are defined in differential form, so there will be some tool positions whose slope vector K has a large modulus, thus becoming the point with the greatest influence on the classification result. To avoid this situation, before clustering the tool positions, these points with the greatest influence are first removed from the data points to be classified, thus forming Figure 5 It should be noted that the removal of these extremely influential points will not affect the division of sensitive areas and will have little impact on the distribution of the final classification results.

[0135] Furthermore, in the embodiments of the present application, Figure 6 As shown, it shows that when ξ yx ,ξ zx ,ξ ax and ξ cx The distribution of the tool axis surface profile error E obtained by simulation on the surface when one of the four servo dynamic characteristics matching eigenvalues ​​is 0.5 or 2 and the other three eigenvalues ​​are 1. For example, Figure 6 As shown in (a), it shows ξ yx The schematic diagram of the tool axis trace profile error distribution when is 0.5 and the other three eigenvalues ​​are 1, as shown in Figure 6 As shown in (b), it shows ξ yx Schematic diagram of tool axis trace profile error distribution when is 2 and the other three eigenvalues ​​are 1; Figure 6 As shown in (c), it shows ξ zx The schematic diagram of the tool axis trace profile error distribution when is 0.5 and the other three eigenvalues ​​are 1, as shown in Figure 6 As shown in (d), it shows ξ zx The schematic diagram of the tool axis surface profile error distribution when is 2 and the other three eigenvalues ​​are 1 is as follows: Figure 6 As shown in (e), it shows ξ ax The schematic diagram of the tool axis trace profile error distribution when is 0.5 and the other three eigenvalues ​​are 1, as shown in Figure 6 As shown in (f), it shows ξ ax The schematic diagram of the tool axis trace profile error distribution when is 2 and the other three eigenvalues ​​are 1, as shown in Figure 6 As shown in (g), it shows ξcx The schematic diagram of the tool axis trace profile error distribution when is 0.5 and the other three eigenvalues ​​are 1, as shown in Figure 6 As shown in (h), it shows ξ cx Schematic diagram of tool axis surface profile error distribution when eigenvalues ​​are 2 and the other three eigenvalues ​​are 1. Figure 5 and Figure 6 It can be seen that the part of the tool axis trace surface corresponding to each tool position in each cluster obtained by cluster analysis is affected by ξ yx ,ξ zx ,ξ ax ,ξ cx The influence patterns are similar, which verifies the rationality of the cluster analysis results.

[0136] Furthermore, the present invention is analyzed comprehensively. Figure 5 and Figure 6 , the tool axis trace surface formed by the tool position envelope generated by the SPO algorithm when the five-axis linkage CNC machine tool processes the S specimen can be roughly divided into 6 areas. Area 1 is the part of the tool axis trace surface corresponding to the tool position included in Cluster 1. This area is ξ yx The bidirectional sensitive area of ​​Cluster 2 is the part of the tool axis trace surface corresponding to the tool position contained in Cluster 2. This area is also ξ yx With ξ cx One-way sensitive area, ξ zx With ξ ax The bidirectional sensitive area; Area 3 is the part of the tool axis trace surface corresponding to the tool position included in Cluster 5, and this area is also ξ yx ,ξ zx ,ξ ax and ξ cx The bidirectional sensitive area; Area 4 is the part of the tool axis trace surface corresponding to the tool position included in Cluster 6, and this area is ξ cx Bidirectional sensitive area, ξ yx With ξ zx The one-way sensitive area; Area 5 is the part of the tool axis trace surface corresponding to the tool position contained in Cluster 7, and this area is ξ yx With ξ cx The bidirectional sensitive area; Area 6 is the part of the tool axis trace surface corresponding to the tool position included in Cluster 8, and this area is ξ yx With ξ cx One-way sensitive area.

[0137] Furthermore, the embodiments of the present application are based on Figure 5 The cluster analysis results divide the surface of the S specimen into 10 different areas, namely A1, A2, A3, B, C1, C2, D1, D2, E and F, by the isometric mapping principle. Figure 7As shown in Figure 2, since the A and B surfaces of the S specimen are similar in reflecting the dynamic performance of the machine tool, the A surface is taken as an example. Figure 7 Curve 1 and curve 2 are the projection curves of the contour lines with heights of 25 mm and 30 mm on the surface A of the S specimen on the XY plane, respectively. These two curves are used as the outline of the surface A of the S specimen. The boundary points between the various areas represented by the directrix on the surface A of the S specimen as a reference are shown in Table 1:

[0138] Table 1

[0139]

[0140] From the sensitivity analysis results of various locations on the tool axis surface to various servo parameters, it can be concluded that the normal profile error of each area on the surface of the S specimen is sensitive to ξ yx ,ξ zx ,ξ ax and ξ cx The sensitivity is shown in Table 2:

[0141] Table 2

[0142]

[0143] The symbol √ indicates that when a certain servo parameter changes within a certain value range, the normal profile error of the area is sensitive to the change.

[0144] Furthermore, in the actual S specimen processing scenario of the embodiment of the present application, for the same G-code tool position file generated according to the SPO algorithm with the help of CAM software, different machine tools will generate different machine tool axis motion instruction trajectory curves through post-processing due to differences in topological structures. Therefore, the above-mentioned sensitive area division method needs to be modified according to the actual machine tool structure to better reflect its application value.

[0145] For example, for an AC swing head five-axis CNC machine tool, when installing the S specimen to be processed, the positive direction of the workpiece coordinate system axis is kept consistent with the positive direction of the machine tool coordinate system axis, so that the above conclusions can be applied; and for an AC rotary table five-axis CNC machine tool, such as Figure 8 As shown in the figure, since it is often impossible to make the origin of the workpiece coordinate system coincide with the intersection of the two rotating axis axes when installing the S test piece to be processed, the motion increments of each machine tool axis between adjacent tool positions will be different from the motion increments of each geometric axis in the workpiece coordinate system during the actual processing of the machine tool. For an AC rotary table five-axis linkage CNC machine tool, let the coordinates of the intersection point O' of the two rotating axis axes in the machine tool coordinate system O:XYZ be (x O′ ,y O′ ,z O′), take O' as the origin, and the positive direction of the X axis of the coordinate system is consistent with the positive direction of the X axis of the machine tool coordinate system to establish the rotation center coordinate system O':X'Y'Z', and let the coordinate of the origin O' of the workpiece coordinate system under the rotation center coordinate system O':X'Y'Z' be (x O″ ,y O″ ,z O″ ), ||O′O″||2=l remains unchanged during the machining process. Assume that the motion increments of each axis of the machine tool between the mth tool position and the m+1th tool position during the machining process are Δx, Δy, Δz, Δα and Δγ respectively, then:

[0146]

[0147] Among them, x m is the x coordinate of the tool tip point of the mth tool position in the workpiece coordinate system, and y m is the y coordinate of the tool tip point of the mth tool position in the workpiece coordinate system, z m is the z coordinate of the tool tip of the mth tool position in the workpiece coordinate system, α m is the angle of rotation of the tool axis of the mth tool position around the x-axis with the tool tip as the center, γ m The angle of rotation of the tool axis of the mth tool position around the z axis with the tool tip as the center, x m+1 is the x coordinate of the tool tip point of the m+1th tool position in the workpiece coordinate system, and y m+1 is the y coordinate of the tool tip point of the m+1th tool position in the workpiece coordinate system, z m+1 is the z coordinate of the tool tip point at the m+1th tool position in the workpiece coordinate system, α m+1 is the angle of rotation of the tool axis of the m+1th tool position around the x-axis with the tool tip as the center, γ m+1 is the angle of rotation of the tool axis at the m+1th tool position around the z axis with the tool tip as the center, and l is the tool length.

[0148] From the above formula, we can see that compared with AC swing head type five-axis linkage CNC machine tools, the motion increment of each axis of AC rotary table type five-axis linkage CNC machine tools includes not only the motion increment of each geometric axis in the workpiece coordinate system, but also the motion increment of each machine tool axis caused by the change of the origin position of the workpiece coordinate system due to the change of the tool posture. The embodiment of this application is used for experimental verification of a certain AC rotary table type five-axis linkage CNC machine tool. After measurement, l is 140mm. The cluster analysis results before and after correction are compared. Figure 9 As shown, Figure 9 (a) is the tool position cluster analysis result before correction. Figure 9 (b) is the corrected tool position cluster analysis result. By comparison, it can be seen that the offset of the workpiece coordinate system relative to the rotation center has a significant impact on the cluster analysis results. The corresponding correction is very necessary for the accuracy of the cluster analysis results.

[0149] It should be noted that accurately measuring l in actual engineering applications requires a significant amount of manpower and time, and correcting it using the theoretical calculations described above is inefficient and lacks practicality. Therefore, considering that the CNC systems of most current five-axis CNC machine tools have data acquisition modules that can collect position input commands for the five machine axes in real time, conducting a theoretical analysis of the S specimen contour error and the matching eigenvalues ​​of the servo dynamic characteristics based on the command trajectory obtained by the acquisition module can improve efficiency, save costs, and thus enhance the practicality of the proposed method.

[0150] In step S103, based on the preset multivariate linear regression algorithm, an evaluation model for the matching characteristic values ​​of the servo dynamic characteristics of the five-axis linkage CNC machine tool is established according to the sensitivity analysis results and the S specimen contour error, so as to generate an evaluation result of the matching characteristic values ​​of the servo dynamic characteristics of the five-axis linkage CNC machine tool using the evaluation model.

[0151] Furthermore, in some embodiments, an evaluation model for the matching characteristic values ​​of the servo dynamic characteristics of a five-axis linkage CNC machine tool is established based on the sensitivity analysis results and the S specimen contour error, including: obtaining the position coordinates of each target error measurement point in the workpiece coordinate system and the normal vector of the S specimen contour at each target error measurement point; obtaining the S specimen contour error based on multiple target error measurement points and the normal vector of each target error measurement point, and establishing an evaluation model for the matching characteristic values ​​of the servo dynamic characteristics of a five-axis linkage CNC machine tool based on the S specimen contour error and the sensitivity analysis results.

[0152] Furthermore, after clarifying the mapping relationship between the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool and the surface profile of the S specimen, the embodiment of the present application can evaluate the size of the servo dynamic characteristic matching eigenvalues ​​through the surface profile error of the S specimen. In the dynamic accuracy detection process of the five-axis linkage CNC machine tool based on the S specimen, the normal profile error of each point on the surface profile of the S specimen will be measured. Since the current standard method for dynamic accuracy detection of S specimens is to distribute 25 measuring points at equal distances at the same height on each side, the intervals between adjacent points are large, and since there will be interference from other error sources when processing the S specimen, the measuring points in some detection standards cannot fully reflect the sensitivity of the point to the servo parameters. Therefore, based on the current standard, 42 measuring points were selected at a smaller interval at a height of 25mm on the A surface of the S specimen. The position coordinates of each measuring point in the workpiece coordinate system and the normal vector of the S specimen profile at that point are shown in Table 3:

[0153] Table 3

[0154]

[0155]

[0156]

[0157] Furthermore, in the XY plane of the workpiece coordinate system, the relative position relationship between each detection point and the tool tip position of each tool position after cluster analysis, as well as the corresponding relationship between each detection point and the tool axis trace surface formed by different cluster tool positions are as follows: Figure 10 As shown in FIG, the specific cluster analysis process, sensitivity analysis and contour division method on the S specimen are consistent with the above analysis and will not be repeated here.

[0158] Furthermore, based on the mapping relationship between the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool and the surface profile of the S specimen clearly defined in the embodiment of the present application, on the one hand, it is beneficial to select appropriate independent variables to improve the accuracy of the model; on the other hand, since there are many error interferences other than the servo dynamic characteristic matching in the processing and measurement of the surface profile of the S specimen, the embodiment of the present application can adopt a multivariate linear regression algorithm to establish an evaluation model of the servo dynamic characteristic matching eigenvalues ​​of the five-axis linkage CNC machine tool according to the sensitivity analysis results and the S specimen profile error, so as to evaluate ξ yx For example, the evaluation of can be expressed as:

[0159]

[0160] Among them, ε i ,i=1,2,3,L,42 is the contour error of the i-th measuring point, β xy，0 is the constant term coefficient, β xy,i ,i=1,2,3,L,42 is the linear regression coefficient corresponding to the i-th measuring point. According to the sensitivity analysis conclusion of the S specimen contour error to the matching characteristic value of the servo dynamic characteristics of the five-axis linkage CNC machine tool, β can be further constrained. xy,i , that is, when the local tool axis trace surface corresponding to the i-th measuring point does not belong to the ξ yx When the sensitive area of ​​β xy,i = 0. It should be noted that, in theory, all yx The linear regression coefficients of the sensitive area detection points as the coefficients to be adjusted can improve the evaluation accuracy of the evaluation model. However, in practical applications, this will increase the modeling cost of the evaluation model, thereby reducing the evaluation efficiency. Therefore, for the detection points belonging to the same type of sensitive area, only a representative point is selected for adjustment, and the linear regression coefficients of other points are regarded as zero, so as to balance the evaluation accuracy and modeling cost. Therefore, the evaluation model of the embodiment of the present application can be set as ξ=[ξ yx ξ zx ξ ax ξ cx ] T ,ε=[1 ε1 L ε 41 ε42 ] T , then:

[0161]

[0162] For example, a verification experiment for the proposed evaluation method was conducted using a numerical control system equipped with an AC rotary table five-axis machine tool. First, an S specimen was machined as a control group under conditions where the control parameters of the x- and y-axis servo control systems were completely identical. In this experiment, the position loop proportional gain coefficients for the x- and y-axes were set to Kppx = Kppy = 7, the velocity loop proportional gain coefficients for the x- and y-axes were set to Kpvx = Kpvy = 5.189, the velocity loop integral time constants for the x- and y-axes were set to Tivx = Tivy = 9, the current loop proportional gain coefficients for the x- and y-axes were set to Kpix = Kpiy = 27.705, and the current loop integral time constants for the x- and y-axes were set to Tiix = Tiiy = 5. Cutting parameters were set as spindle speed n = 6000 rpm and feed rate F = 300 mm / min. When machining the S specimen under the above conditions, the contour error of the S specimen caused by the mismatch of the servo dynamic characteristics can be ignored. At this time, the contour error of the S specimen after machining is caused by other error sources such as the S specimen machining principle error and the machine tool geometric error. The contour errors of the control group S specimen at each measuring point listed in Table 3 are shown in Table 4:

[0163] Table 4

[0164]

[0165] Secondly, according to the evaluation method of the embodiment of the present application, an evaluation model is established for the AC rotary five-axis linkage CNC machine tool. When adjusting the multivariate linear regression coefficients by the least squares method, increasing the number of selected independent variables can improve the accuracy of the model, but at the same time it will also greatly increase the number of required experimental samples. Therefore, in order to balance the contradiction between identification accuracy and experimental cost and identification efficiency, when adjusting the coefficient matrix β in the evaluation model, the number of non-zero elements to be adjusted in the coefficient matrix β can be appropriately reduced based on the sensitive area division results and the similarity of the slope vector K between different tool positions in the same type of sensitive area. As Figure 9 As shown in FIG, the cluster analysis results after correction based on the specific structural form of the five-axis linkage CNC machine tool used in the experiment according to the embodiment of the present application; finally, after selecting the non-zero elements to be adjusted in the coefficient matrix β based on the surface contour area division result of the S specimen according to the sensitivity analysis method, the coefficient matrix can be written as a column vector form as shown in the following formula:

[0166]

[0167] Among them, ξyx The measurement points 16, 17 and 23 in Table 3 were selected; ξ zx The measurement points 23, 24 and 29 in Table 3 were selected; ξ ax The measurement points 27, 28 and 29 in Table 3 were selected; ξ cx , the measurement points 7, 8 and 33 in Table 3 were selected.

[0168] Furthermore, by varying the position loop scaling factor of the servo control system for each axis of the five-axis CNC machine tool and adjusting the eigenvalues ​​of the servo dynamic characteristics matching, we designed and completed nine sets of S-test specimen machining experiments. The cutting parameters in each experiment were spindle speed n = 6000 r / min and feed rate F = 1500 mm / min. The values ​​of the x-axis servo control system position loop scaling factor Kppx and the elements of the eigenvalue vector ξ for each of the nine experiments are shown in Table 5:

[0169] Table 5

[0170] Experimental groups <![CDATA[K ppx ]]> <![CDATA[ξ yx ]]> <![CDATA[ξ zx ]]> <![CDATA[ξ ax ]]> <![CDATA[ξ cx ]]> 1 1.5 4 / 4.6 4 / 3 4 / 7 4 / 19 2 3 7 / 4 7 / 19 7 / 9 7 / 15 3 5 11 / 23 11 / 19 11 / 3 11 / 13 4 7 15 / 13 15 / 3 15 / 5 15 / 11 5 8 17 / 5 17 / 21 17 / 19 17 / 3 6 11 23 / 4 23 / 9 23 / 19 23 / 6 7 4 9 / 21 9 / 7 9 / 11 9 / 13 8 6 13 / 11 13 / 15 13 / 9 13 / 11 9 10 21 / 5 21 / 5 21 / 7 21 / 11

[0171] The contour errors of the S specimens processed in 9 groups of experiments at each measuring point are as follows: Figure 11 As shown in Table 6, the first seven of the nine experimental results were used to tune the coefficient matrix β, and the last two were used to verify the evaluation accuracy of the established evaluation model. After tuning, the evaluation equations and evaluation accuracy of each element in the eigenvalue vector ξ due to the matching of the servo dynamic characteristics are listed in Table 6:

[0172] Table 6

[0173]

[0174] Furthermore, it can be seen from the data in Table 6 that the servo dynamic characteristics matching characteristic value evaluation method adopted in the embodiment of the present application is effective. Based on this method, a preliminary evaluation of the servo dynamic characteristics matching degree between the axes of the five-axis linkage CNC machine tool can be achieved, and the optimization direction of the servo dynamic characteristics matching degree of the machine tool can be clarified, which has practical engineering application value. At the same time, it can be seen from the data in Table 6 that the evaluation accuracy of the evaluation model constructed above is not high, especially the evaluation of ξ zx With ξ ax There is a large deviation between the theoretical value and the actual value. Therefore, the main reasons for the deviation of the evaluation based on the established evaluation model are as follows: First, due to the limited experimental samples, the number of measurement points selected as independent variables is too small, resulting in insufficient evaluation accuracy; second, the tool axis trace surface generated by the machine tool axis command trajectory of the S specimen processed by the machine tool lacks the ξ zx ,ξ axThe significant sensitive area is that the command increment of the a-axis and z-axis of the machine tool is too small during the processing of the S specimen; the third is the contour error of the S specimen and ξ yx ,ξ zx ,ξ ax and ξ cx The mapping relationship between them is highly nonlinear. When a multivariate linear model is used for fitting, if the dependent variable has a large range of variation, the accuracy of the model evaluation will drop significantly. Fourth, when the machine tool processes the S specimen, there are many interferences from other non-random errors, such as the deformation of the tool caused by the cutting force and the tool deflection angle caused by the installation of the tool.

[0175] In summary, if Figure 12 As shown, the method adopted in the embodiment of the present application can be summarized into two parts: basic theoretical preparation and evaluation process, wherein the basic theoretical preparation can be divided into the following steps:

[0176] (1) Obtaining the tool position instructions input to each machine tool axis system in the machine tool coordinate system through the machine tool CNC system acquisition module;

[0177] (2) Taking the x-axis as a reference, four command trajectory curves are formed and the corresponding slope vector K is calculated for each tool position;

[0178] (3) According to the relationship between the servo dynamic characteristics matching eigenvalue and the servo dynamic characteristics matching error angle, the initial core set is constructed, the distance function is defined, and then the slope vector K under each tool position is converted into m As the data points to be classified, the tool positions are classified by the semi-supervised K-means clustering algorithm, and then the tool axis trace surface is divided into multiple different areas;

[0179] (4) According to the isometric mapping principle, the surface contour of the S specimen is also divided into multiple regions with different sensitivities to the servo dynamic characteristics matching eigenvalues ​​based on the tool axis trace surface partitioning results, and then the sensitivity of each measurement point on the S specimen surface to each servo dynamic characteristics matching eigenvalue is clarified;

[0180] (5) setting multiple sets of different servo dynamic characteristic matching eigenvalues ​​by adjusting the position loop proportional gain, and processing the S specimen under each set of servo dynamic characteristic matching eigenvalues, and measuring the contour error at each measuring point on the surface of the S specimen;

[0181] (6) An evaluation model is established based on multivariate linear regression. Based on the multiple sets of "servo dynamic characteristics matching eigenvalues-contour errors of each measurement point" data obtained in (5), the coefficient matrix in the evaluation model is adjusted by the least squares method.

[0182] After completing the basic theoretical preparation, a complete and feasible evaluation process can be obtained. The evaluation process can be divided into the following steps:

[0183] (1) After the dynamic performance of the machine tool is reduced due to the influence of factors such as the aging of the internal parts of the machine tool, the matching characteristic value of the machine tool servo dynamic characteristics changes, and the machine tool is first used to process the S specimen;

[0184] (2) After machining, the contour error of each measuring point on the surface of the S specimen is measured using a three-coordinate measuring machine or other instrument;

[0185] (3) The error data is used as the input of the evaluation model, and the matching characteristic values ​​of the various servo dynamic characteristics of the machine tool in the current state are calculated as the output.

[0186] It should be noted that for different five-axis CNC machine tools, due to factors such as the mechanical structure, the distribution of the sensitive area of ​​the tool axis trace surface to the servo dynamic characteristics matching eigenvalue in the workpiece coordinate system is different, resulting in different non-zero elements of the coefficient matrix β. Figure 12 It can be seen from the evaluation method implementation process shown that the evaluation method and the modeling process of the evaluation model proposed in the embodiment of the present application can be applied to different machine tools, thereby improving the accuracy of the cluster analysis results.

[0187] According to the evaluation method for the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool of the embodiment of the present application, the relationship between the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool and the S specimen contour error is analyzed to obtain the relationship analysis result, and then the S specimen contour error is used to perform sensitivity analysis on the servo dynamic characteristic matching characteristic value to obtain the sensitivity analysis result. Based on the preset multivariate linear regression algorithm, an evaluation model for the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool is established according to the sensitivity analysis result and the S specimen contour error, so as to generate the corresponding evaluation result using the evaluation model. Thus, the problem of the lack of direct quantitative evaluation of the matching degree of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen is solved. The relationship between the S specimen and the servo dynamic characteristic matching characteristic value and the sensitivity analysis result are evaluated by the evaluation model, thereby improving the dynamic accuracy test standard and evaluation accuracy of the S specimen.

[0188] Next, a block diagram of a device for evaluating servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0189] like Figure 13 As shown, the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value evaluation device 10 includes: a first analysis module 100, a second analysis module 200 and a generation module 300.

[0190] The first analysis module 100 is used to analyze the relationship between the matching characteristic value of the servo dynamic characteristics of the five-axis linkage CNC machine tool and the contour error of the S test piece to obtain the relationship analysis result;

[0191] The second analysis module 200 is used to perform sensitivity analysis on the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool based on the relationship analysis result and using the S test piece contour error to obtain a sensitivity analysis result; and

[0192] The generation module 300 is used to establish an evaluation model for the servo dynamic characteristics matching characteristic values ​​of the five-axis linkage CNC machine tool based on a preset multivariate linear regression algorithm, according to the sensitivity analysis results and the S specimen contour error, so as to use the evaluation model to generate an evaluation result of the servo dynamic characteristics matching characteristic values ​​of the five-axis linkage CNC machine tool.

[0193] Furthermore, in some embodiments, the first analysis module 100 is specifically configured to:

[0194] Analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value;

[0195] The servo dynamic characteristics matching error angle and the tool axis trace surface are analyzed to obtain the second interaction relationship between the servo dynamic characteristics matching error angle and the tool axis trace surface;

[0196] The contour error between the tool axis trace surface and the S specimen is analyzed, and the third action relationship between the contour error between the tool axis trace surface and the S specimen is obtained.

[0197] Furthermore, in some embodiments, the first analysis module 100 is specifically configured to:

[0198] Receiving a linear command trajectory of a five-axis linkage CNC machine tool tool at various slopes, analyzing a servo dynamic characteristic matching characteristic value and a servo dynamic characteristic matching error angle according to the linear command trajectory, thereby obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the linear command trajectory;

[0199] The curve command trajectory of a five-axis linkage CNC machine tool tool under various slopes is received, and the relationship between the servo dynamic characteristic matching error angle and the slope on the curve command trajectory is obtained according to the servo dynamic characteristic matching eigenvalue, thereby analyzing and obtaining the first action relationship between the servo dynamic characteristic matching eigenvalue and the servo dynamic characteristic matching error angle under the curve command trajectory.

[0200] Furthermore, in some embodiments, the first analysis module 100 is specifically configured to:

[0201] Obtain the tool tip position error and tool axis vector error of the tool, and obtain any tool axis position on the tool axis trace surface based on the tool tip position error and tool axis vector error;

[0202] Obtain the surface coefficient of the tool axis trace surface, and obtain the error value of the tool axis trace surface according to the surface coefficient;

[0203] The tool axis trace surface is generated based on the non-developable ruled surface of the S specimen, and the second interaction relationship between the servo dynamic characteristics matching error angle and the tool axis trace surface is obtained in combination with the error value of the tool axis trace surface.

[0204] Furthermore, in some embodiments, the first analysis module 100 is specifically configured to:

[0205] Obtain the surface parameters of the tool axis trace surface after side milling by a cylindrical milling cutter, and analyze the mapping relationship between the surface parameters and the tool axis trace surface;

[0206] According to the mapping relationship, the third action relationship between the tool axis trace surface and the S specimen contour error is obtained.

[0207] Furthermore, in some embodiments, the second analysis module 200 is specifically configured to:

[0208] Obtain the tool position slope vector of the five-axis linkage CNC machine tool, and cluster the tool positions of the five-axis linkage CNC machine tool according to the tool position slope vector and the clustering algorithm to obtain the tool position clustering result;

[0209] Based on the cluster analysis method, the tool axis trace surface corresponding to the tool position in each cluster is divided into multiple target matching areas, and multiple target matching areas of the S specimen contour are generated based on the isometric mapping principle according to the multiple target matching areas.

[0210] Based on multiple target matching areas of the S specimen contour, multiple target error measurement points in each target matching area are selected, and the sensitivity of each target matching area of ​​the S specimen contour to the servo dynamic characteristic matching characteristic value is analyzed according to each target error measurement point.

[0211] Furthermore, in some embodiments, the generation module 300 is specifically configured to:

[0212] Obtain the position coordinates of each target error measurement point in the workpiece coordinate system and the normal vector of the S specimen contour at each target error measurement point;

[0213] The contour error of the S specimen is obtained according to multiple target error measurement points and the normal vector of each target error measurement point. An evaluation model for the matching eigenvalues ​​of the servo dynamic characteristics of the five-axis linkage CNC machine tool is established based on the contour error of the S specimen and the sensitivity analysis results.

[0214] According to the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value evaluation device of the embodiment of the present application, the relationship between the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value and the S specimen contour error is analyzed to obtain the relationship analysis result, and then the S specimen contour error is used to perform sensitivity analysis on the servo dynamic characteristic matching characteristic value to obtain the sensitivity analysis result. Based on the preset multivariate linear regression algorithm, an evaluation model for the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value is established according to the sensitivity analysis result and the S specimen contour error, so as to generate the corresponding evaluation result using the evaluation model. Thus, the problem of the lack of direct quantitative evaluation of the matching degree of the servo dynamic characteristics based on the dynamic accuracy test results of the S specimen is solved. The relationship between the S specimen and the servo dynamic characteristic matching characteristic value and the sensitivity analysis result are evaluated by the evaluation model, thereby improving the dynamic accuracy test standard and evaluation accuracy of the S specimen.

[0215] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0216] Memory 1401 , processor 1402 , and computer programs stored in the memory 1401 and executable on the processor 1402 .

[0217] When the processor 1402 executes the program, the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value evaluation method provided in the above embodiment is implemented.

[0218] Furthermore, the electronic device further includes:

[0219] The communication interface 1403 is used for communication between the memory 1401 and the processor 1402 .

[0220] The memory 1401 is used to store computer programs that can be run on the processor 1402 .

[0221] The memory 1401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0222] If the memory 1401, processor 1402, and communication interface 1403 are implemented independently, the communication interface 1403, memory 1401, and processor 1402 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 14 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0223] Optionally, in a specific implementation, if the memory 1401, the processor 1402 and the communication interface 1403 are integrated on a chip, the memory 1401, the processor 1402 and the communication interface 1403 can communicate with each other through an internal interface.

[0224] The processor 1402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0225] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for evaluating the servo dynamic characteristics matching characteristic values ​​of a five-axis linkage CNC machine tool.

[0226] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0227] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0228] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for evaluating the servo dynamic characteristics matching characteristic value of a five-axis linkage CNC machine tool, characterized in that: The following steps are involved: The relationship between the matching eigenvalues ​​of the servo dynamic characteristics of the five-axis CNC machine tool and the contour error of the S specimen is analyzed, and the relationship analysis results are obtained; Based on the relationship analysis result, a sensitivity analysis is performed on the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool using the S specimen contour error to obtain a sensitivity analysis result; as well as Based on a preset multivariate linear regression algorithm, an evaluation model for the servo dynamic characteristics matching eigenvalues ​​of the five-axis linkage CNC machine tool is established according to the sensitivity analysis results and the S specimen contour error, so as to generate an evaluation result of the servo dynamic characteristics matching eigenvalues ​​of the five-axis linkage CNC machine tool using the evaluation model.

2. The method according to claim 1, characterized in that The analysis of the relationship between the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool and the S test piece contour error includes: Analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value; Analyzing the servo dynamic characteristic matching error angle and the tool axis trace surface to obtain a second action relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface; The tool axis trace surface and the S specimen contour error are analyzed to obtain a third action relationship between the tool axis trace surface and the S specimen contour error.

3. The method according to claim 2, characterized in that The analyzing the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value to obtain a first action relationship between the servo dynamic characteristic matching error angle and the servo dynamic characteristic matching characteristic value includes: receiving a linear command trajectory of a tool of the five-axis linkage CNC machine tool at multiple slopes, and analyzing the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle according to the linear command trajectory, thereby obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the linear command trajectory; The curve command trajectory of the five-axis linkage CNC machine tool tool at multiple slopes is received, and according to the servo dynamic characteristic matching characteristic value, the relationship between the servo dynamic characteristic matching error angle and the slope on the curve command trajectory is obtained, thereby analyzing and obtaining a first action relationship between the servo dynamic characteristic matching characteristic value and the servo dynamic characteristic matching error angle under the curve command trajectory.

4. The method according to claim 2, characterized in that The analyzing the servo dynamic characteristic matching error angle and the tool axis trace surface to obtain a second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface includes: Obtaining a tool tip point position error and a tool axis vector error of the tool, and obtaining any tool axis position on the tool axis trace surface according to the tool tip point position error and the tool axis vector error; Obtaining a curvature coefficient of the tool axis trace surface, and obtaining an error value of the tool axis trace surface according to the curvature coefficient; A tool axis trace surface is generated based on the non-developable ruled surface of the S specimen, and a second interaction relationship between the servo dynamic characteristic matching error angle and the tool axis trace surface is obtained in combination with an error value of the tool axis trace surface.

5. The method according to claim 2, characterized in that The analyzing the error between the tool axis trace surface and the S specimen contour to obtain a third interaction relationship between the tool axis trace surface and the S specimen contour error includes: Obtaining the surface parameters of the tool axis trace surface after side milling by a cylindrical milling cutter, and analyzing the mapping relationship between the surface parameters and the tool axis trace surface; A third interaction relationship between the tool axis trace surface and the S specimen contour error is obtained according to the mapping relationship.

6. The method according to claim 1, characterized in that Based on the relationship analysis results, a sensitivity analysis of the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool is performed using the S specimen contour error, including: Obtaining a tool position slope vector of the five-axis CNC machine tool, and clustering the tool positions of the five-axis CNC machine tool according to the tool position slope vector and a clustering algorithm to obtain a tool position clustering result; Based on a cluster analysis method, the tool axis trace surface corresponding to the tool position in each cluster is divided into multiple target matching areas, and multiple target matching areas of the S specimen contour are generated based on the isometric mapping principle according to the multiple target matching areas; Based on the multiple target matching areas of the S specimen profile, multiple target error measurement points are selected in each target matching area, and the sensitivity of each target matching area of ​​the S specimen profile to the servo dynamic characteristic matching characteristic value is analyzed according to each target error measurement point.

7. The method according to claim 1, characterized in that The evaluation model for matching characteristic values ​​of the servo dynamic characteristics of the five-axis linkage CNC machine tool is established based on the sensitivity analysis results and the S specimen contour error, including: Obtaining the position coordinates of each target error measurement point in the workpiece coordinate system and the normal vector of the S test piece contour at each target error measurement point; The S specimen contour error is obtained according to multiple target error measurement points and the normal vector of each target error measurement point, and an evaluation model for the servo dynamic characteristic matching eigenvalue of the five-axis linkage CNC machine tool is established according to the S specimen contour error and the sensitivity analysis result.

8. A device for evaluating the servo dynamic characteristics matching characteristic value of a five-axis linkage CNC machine tool, characterized in that: include: The first analysis module is used to analyze the relationship between the matching characteristic value of the servo dynamic characteristics of the five-axis linkage CNC machine tool and the contour error of the S specimen to obtain the relationship analysis results; A second analysis module is configured to perform a sensitivity analysis on the servo dynamic characteristic matching characteristic value of the five-axis linkage CNC machine tool based on the relationship analysis result and using the S specimen contour error to obtain a sensitivity analysis result; as well as A generation module is used to establish an evaluation model for the servo dynamic characteristics matching characteristic value of the five-axis linkage CNC machine tool based on a preset multivariate linear regression algorithm, according to the sensitivity analysis results and the S specimen contour error, so as to use the evaluation model to generate an evaluation result of the servo dynamic characteristics matching characteristic value of the five-axis linkage CNC machine tool.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for evaluating the servo dynamic characteristic matching characteristic values ​​of a five-axis linkage CNC machine tool as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the five-axis linkage CNC machine tool servo dynamic characteristic matching characteristic value evaluation method as described in any one of claims 1 to 7.

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