A kind of internal engagement strong force gear honing based on honing force smooth control honing control method

Abstract

The present application relates to a kind of inner meshing strong force gear honing based on honing force smooth control's honing control method, belong to machining process technical field.The operation steps are as follows: according to inner meshing strong force gear honing processing technology, the dynamic model of gear honing process is established;According to the dynamic model of gear honing process, the time-varying honing force of gear honing process is calculated;According to the structure of numerical control inner meshing strong force gear honing machine, the dynamic model of control system of main shaft of gear honing is constructed;Based on the honing force single closed loop real-time control method of adjusting axial feed speed, the time-varying honing force in gear honing process is controlled in real time, and smooth honing is realized;Based on the honing force double closed loop real-time control method of adjusting axial feed speed and radial feed amount, the time-varying honing force in gear honing process is controlled in real time, and smooth honing is realized.The present application realizes the calculation and real-time control of time-varying honing force in gear honing process, provides theoretical basis and control method for smooth honing of gear honing process.

Description

Technical Field

[0001] This invention belongs to the field of machining technology, specifically relating to a honing control method for internal meshing high-strength honing based on stable honing force control. Technical Background

[0002] Gears, as fundamental and universal industrial components for transmitting motion and power between mechanisms, are widely used in machine tools, automobiles, aerospace, military equipment, and other industries. Currently, most gears undergo precision machining processes such as gear grinding and honing after heat treatment. With the rapid development of new energy vehicles, gear honing is gaining increasing popularity due to its significant noise reduction performance, high residual stress on the tooth surface, and strong fatigue resistance. Therefore, improving the quality of the honed tooth surface has become an increasingly important issue.

[0003] Internal meshing high-strength honing is a commonly used honing process. Its machining process is equivalent to the meshing motion of a pair of interlocking helical gears. During honing, the honing force oscillates continuously due to the meshing process. Excessive oscillation amplitude can severely affect machining accuracy, reduce tooth surface quality, and even shorten machine tool life. Therefore, controlling the honing force during the honing process to ensure a smoother honing operation is of great importance. Summary of the Invention

[0004] In order to achieve stable honing by real-time control of the time-varying honing force during the honing process, this invention provides a honing control method for internal meshing high-strength honing based on stable honing force control.

[0005] Based on the internal meshing high-strength honing process, a dynamic model of the honing process is established, and the time-varying honing force is calculated. According to the structure of the CNC internal meshing high-strength honing machine, a dynamic model of the control system of the main honing axis is constructed. A single closed-loop real-time control method for honing force based on adjusting the axial feed rate and a double closed-loop real-time control method for honing force based on adjusting the axial feed rate and radial feed amount are proposed to control the time-varying honing force in real time during the honing process and achieve smooth honing.

[0006] A honing control method based on stable honing force control is applicable to the internal meshing high-strength honing process. The CNC internal meshing high-strength honing machine used has seven motion axes: honing wheel rotation axis C1, workpiece rotation axis C2, honing wheel radial feed axis X, honing wheel axial feed axis Z1, honing wheel base swing axis B, honing wheel tilt swing axis A, and workpiece gear base axial auxiliary motion axis Z2.

[0007] The operation steps for smooth honing control are as follows:

[0008] (1) Establish a dynamic model of the honing process.

[0009] Taking the honing wheel as the research object, a dynamic model of the honing wheel is established based on the lumped parameter method, and the formula is as follows:

[0010]

[0011] Taking the workpiece gear as the research object, a dynamic model of the workpiece gear is established based on the lumped parameter method, and the formula is as follows:

[0012]

[0013] In equations (1) and (2), m1 is the mass of the honing wheel, and m2 is the mass of the workpiece gear; J1 is the moment of inertia of the honing wheel, and J2 is the moment of inertia of the workpiece gear; M1 is the driving torque of the honing wheel, and M2 is the driving torque of the workpiece gear; x1, y1, z1, and θ1 are the displacements of the honing wheel in the X, Y, Z, and rotational directions, respectively; x2, y2, z2, and θ2 are the displacements of the workpiece gear in the X, Y, Z, and rotational directions, respectively; k 1x k 1y k 1z k represents the stiffness of the honing wheel in the X, Y, and Z directions. 2x k 2y k 2z c represents the stiffness of the workpiece gear in the X, Y, and Z directions; 1x c 1y c 1z c represents the damping of the honing wheel in the X, Y, and Z directions; 2x c 2y c 2z F represents the damping of the workpiece gear in the X, Y, and Z directions. x F y F z The honing normal force F n Components in the X, Y, and Z directions respectively;

[0014] Based on the gear meshing relationship between the honing wheel and the workpiece, F x F y F z With F n The mapping formula is as follows:

[0015]

[0016] In equation (3), F n (1) The honing normal force, α is the pressure angle of the workpiece gear, and β is the helix angle of the workpiece gear; (2) Calculate the time-varying honing force during the honing process.

[0017] Based on the dynamic model of the honing wheel and the dynamic model of the workpiece gear, the honing normal force is calculated by calculating the time-varying meshing stiffness, meshing damping and contact deformation of the honing wheel and the workpiece gear during the meshing process.

[0018] The time-varying honing force can be decomposed into honing normal force and honing friction force along and perpendicular to the meshing direction. The time-varying honing force is the resultant of the honing normal force and honing friction force, and the resultant formula is as follows:

[0019]

[0020] In equation (4), F is the time-varying honing force, F n For honing normal force, F f For honing friction;

[0021] (3) Construct a dynamic model of the control system for the workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1.

[0022] During the internal meshing high-force honing process, the machining parameters that affect the honing force are: the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z Therefore, dynamic models are constructed for the control systems of the workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1, respectively.

[0023] The workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1 are all driven by AC servo motors. The workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1 are all controlled by a three-loop control method. Therefore, one of them is modeled first; the dynamic model of the control system of the honing wheel axial feed axis Z1 is established.

[0024] When the AC servo motor is running, based on voltage balance and force balance, the dynamic equations of the servo motor for the axial feed axis Z1 of the honing wheel are as follows:

[0025]

[0026] In equation (5), L z R z I z E represents the equivalent inductance, resistance, and current of the AC servo motor for the axial feed axis Z1 of the honing wheel. z U is the back electromotive force of the servo motor coil. z To control the voltage, k ez and k fz These are the electromotive force coefficient and torque coefficient of the servo motor, respectively, θz and τ z These are the rotation angle and torque of the servo motor, respectively. gz J is the reduction ratio of the axial feed shaft Z1 of the honing wheel. z B is the equivalent inertia of the axial feed shaft Z1 of the honing wheel. z For damping, F fz For load capacity;

[0027] The control system for the axial feed axis Z1 of the honing wheel adopts a control algorithm that connects the position loop, speed loop, and current loop in series. The current loop and speed loop use PI controllers, and the position loop uses a P controller. The dynamic equations of the control loop for the axial feed axis Z1 of the honing wheel are as follows:

[0028]

[0029] In equation (6), I refz V refz P refz P represents the reference input for the current loop, velocity loop, and position loop, respectively. z and V z K represents the displacement and velocity of the honing wheel along the Z-direction, driven by the servo motor of the axial feed axis Z1 of the honing wheel. ipz K iiz These represent the proportional gain and integral gain of the current loop, respectively, K vpz K viz These are the proportional gain and integral gain of the velocity loop, respectively, K ppz The proportional gain of the position loop;

[0030] Similarly, dynamic models of the control systems for the radial feed axis X of the honing wheel and the workpiece rotation axis C2 are established respectively;

[0031] A dynamic model of the control system for the radial feed axis X of the honing wheel is established. The dynamic equations of the servo motor for the radial feed axis X of the honing wheel are as follows:

[0032]

[0033] In equation (7), L x R x I x E represents the equivalent inductance, resistance, and current of the AC servo motor for the radial feed axis X of the honing wheel. x U is the back electromotive force of the servo motor coil. x To control the voltage, k ex and k fx These are the electromotive force coefficient and torque coefficient of the servo motor, respectively, θ x and τ x These are the rotation angle and torque of the servo motor, respectively. gxJ is the reduction ratio of the radial feed axis X of the honing wheel. x B is the equivalent inertia of the radial feed axis X of the honing wheel. x For damping, F fx For load capacity;

[0034] The dynamic equations for the control loop of the honing wheel radial feed axis X are as follows:

[0035]

[0036] In equation (8), I refx V refx P refx P represents the reference input for the current loop, velocity loop, and position loop, respectively. x and V x K represents the displacement and velocity of the honing wheel along the X direction, driven by the servo motor of the radial feed axis X of the honing wheel. ipx K iix These represent the proportional gain and integral gain of the current loop, respectively, K vpx K vix These are the proportional gain and integral gain of the velocity loop, respectively, K ppx The proportional gain of the position loop;

[0037] A dynamic model of the control system for the workpiece rotation axis C2 is established. The dynamic equations of the servo motor of the workpiece rotation axis C2 are as follows:

[0038]

[0039] In equation (9), L c R c I c E represents the equivalent inductance, resistance, and current of the AC servo motor for the workpiece rotation axis C2. c U is the back electromotive force of the servo motor coil. c To control the voltage, k ec and k fc These are the electromotive force coefficient and torque coefficient of the servo motor, respectively, θ c and τ c These are the rotation angle and torque of the servo motor, respectively. gc J is the reduction ratio of the workpiece rotation shaft C2. c B is the equivalent inertia of the workpiece's rotation axis C2. c For damping, F fc For load capacity;

[0040] The dynamic equations for the control loop of the workpiece rotation axis C2 are as follows:

[0041]

[0042] In equation (10), I refc V refc P refc P represents the reference input for the current loop, velocity loop, and position loop, respectively. c and V c K represents the displacement and velocity of the workpiece gear driven by the servo motor of the workpiece rotation axis C2 along the rotation direction. ipc K iic These represent the proportional gain and integral gain of the current loop, respectively, K vpc K vic These are the proportional gain and integral gain of the velocity loop, respectively, K ppc The proportional gain of the position loop;

[0043] (4) Achieving smooth honing using a single closed-loop real-time honing force control method based on adjusting axial feed rate.

[0044] During gear honing, the honing force is mainly determined by the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z The influence of the radial feed amount f of the honing wheel radial feed axis X. x The effect on honing force is most significant, and the axial feed speed f of the honing wheel's axial feed axis Z1 is also important. z Secondly, the rotational speed S of the workpiece's rotating shaft C2 c Minimal impact;

[0045] Based on adjusting the axial feed speed f of the honing wheel axial feed axis Z1 z The single closed-loop real-time control method uses a PID controller to control the axial feed speed f of the honing wheel's axial feed axis Z1. z Real-time adjustments are made to control the time-varying honing force during the honing process, thereby achieving stable honing.

[0046] The specific steps are as follows:

[0047] During gear honing, the following honing process parameters are given: the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z Based on the dynamic model of the control system of the workpiece rotation axis C2, the radial feed axis X of the honing wheel and the axial feed axis Z1 of the honing wheel and the time-varying honing force model, the time-varying honing force is obtained.

[0048] The time-varying honing force is compared with a preset reference honing force. When the time-varying honing force is greater than or less than the reference honing force, the axial feed speed f of the honing wheel's axial feed axis Z1 is changed. z The time-varying honing force is reduced or increased in real time, so that the time-varying honing force and the reference honing force are always kept close, thereby achieving smooth honing.

[0049] (5) Achieving smooth honing by a dual closed-loop real-time control method for honing force based on adjusting axial feed rate and radial feed amount.

[0050] Based on adjusting the axial feed speed f of the honing wheel axial feed axis Z1 z The radial feed amount f of the honing wheel radial feed axis X x The dual closed-loop real-time control method employs two PID controllers to control the axial feed speed f of the honing wheel's axial feed axis Z1. z The radial feed amount f of the honing wheel radial feed axis X x Real-time control is performed to control the time-varying honing force during the honing process, thereby achieving better and smoother honing.

[0051] The specific steps are as follows:

[0052] During gear honing, the following honing process parameters are given: the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z Based on the dynamic model of the control system of the workpiece rotation axis C2, the radial feed axis X of the honing wheel and the axial feed axis Z1 of the honing wheel and the time-varying honing force model, the time-varying honing force is obtained.

[0053] The time-varying honing force is compared with a preset reference honing force. When the time-varying honing force is greater than or less than the reference honing force, the axial feed speed f of the honing wheel's axial feed axis Z1 is changed. z The radial feed amount f of the honing wheel radial feed axis X x The time-varying honing force is reduced or increased in real time, so that the time-varying honing force always remains close to the reference honing force, thereby achieving smooth honing.

[0054] The further defined technical solution is as follows:

[0055] In step (2), the specific operations are as follows:

[0056] During gear honing, the time-varying meshing stiffness is approximated using a Fourier expansion, as shown in the following formula:

[0057] k m =k g +am cos(ω m t)+b m sin(ω m t) (11)

[0058] In equation (11), k m For time-varying meshing stiffness, k g a m b m These are the constant term, first-order cosine term, and sine term in the Fourier expansion, respectively, ω m t is the meshing frequency, and t is time;

[0059] Meshing damping is related to time-varying meshing stiffness, as shown in the following formula:

[0060]

[0061] In equation (12), c m For meshing damping, ξ is the damping ratio, which is 0.03 to 0.17; r1 is the pitch circle radius of the honing wheel, and r2 is the pitch circle radius of the workpiece gear; J1 is the moment of inertia of the honing wheel, and J2 is the moment of inertia of the workpiece gear.

[0062] During gear honing, the workpiece gear is fixed, and the honing wheel performs radial and axial feeds to form the honing thickness, as shown in the following formula:

[0063] a p =f x sinα+f z cosαsinβ (13)

[0064] In equation (13), a p For honing thickness, f x f is the radial feed rate. z α is the axial feed rate, β is the pressure angle of the workpiece gear, and β is the helix angle of the workpiece gear.

[0065] Time-varying honing force is usually calculated based on the equivalent honing thickness. The equivalent honing thickness is related to the honing thickness and the ratio of the sliding speeds of the honing wheel and the workpiece gear, as shown in the following formula:

[0066] a eq =qa p (14)

[0067] In equation (14), a eq The equivalent honing thickness is given by q, where q is the speed ratio between the honing wheel and the workpiece gear in the sliding friction direction.

[0068] According to equations (1) and (2), the time-varying honing force will cause the honing wheel and the workpiece gear to vibrate, thereby causing the actual honing thickness to change during the machining process. The formula for the change in honing thickness is as follows:

[0069] a bh =(x1-x2)sinα+(y1-y2+θ1r1-θ2r2)cosαcosβ+(z1-z2)cosαsinβ (15)

[0070] In equation (15), a bh Let x1, y1, z1, and θ1 represent the changes in honing thickness, and let x2, y2, z2, and θ2 represent the displacements of the honing wheel in the X, Y, Z, and rotational directions, respectively.

[0071] During gear honing, the honing wheel and the workpiece gear undergo meshing deformation. The deformation is represented by the actual honing thickness during the honing process. The formula for the actual honing thickness is as follows:

[0072] δ=a eq +a bh (16)

[0073] In equation (16), δ is the actual honing thickness;

[0074] The first derivative of the actual honing thickness is:

[0075]

[0076] In equation (17), dδ is the first derivative of the actual honing thickness, dt is the differential of the actual honing thickness, and dt is the differential of time.

[0077] During gear honing, the honing force along the meshing direction and perpendicular to the meshing direction can be decomposed into honing normal force and honing friction force; the honing normal force is the meshing force between the honing wheel and the workpiece gear, as shown in the following formula:

[0078]

[0079] In equation (18), F n For honing normal force, k m For time-varying meshing stiffness, c m For meshing damping;

[0080] The formula for honing friction is as follows:

[0081] F f =μF n (19)

[0082] In equation (19), Ff denoted as honing friction force, and μ as the tooth surface friction coefficient;

[0083] The time-varying honing force is the sum of the honing normal force and the honing friction force, which gives us the following formula (4):

[0084]

[0085] In equation (4), F is the time-varying honing force.

[0086] In step (4), the specific operations are as follows:

[0087] During gear honing, the following honing process parameters are given: the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z Based on the dynamic model of the control system of the workpiece rotation axis C2, the radial feed axis X of the honing wheel and the axial feed axis Z1 of the honing wheel and the time-varying honing force model, the time-varying honing force, i.e. the actual honing force, is obtained.

[0088] The actual honing force is compared with the preset reference honing force. When the actual honing force is greater than the reference honing force, the axial feed speed f of the honing wheel's axial feed axis Z1 is obtained through the PID controller. z The negative compensation amount, and the given axial feed speed f of the honing wheel axial feed axis Z1. z Adding these together reduces the axial feed speed f of the honing wheel's axial feed axis Z1. z This reduces the actual honing force; when the actual honing force is less than the reference honing force, the axial feed speed f of the honing wheel's axial feed axis Z1 is obtained through the PID controller. z The positive compensation amount, and the given axial feed speed f of the honing wheel axial feed axis Z1. z Adding these together increases the axial feed speed f of the honing wheel's axial feed axis Z1. z This increases the actual honing force.

[0089] In step (5), the specific operations are as follows:

[0090] During gear honing, the following honing process parameters are given: the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z Based on the dynamic model of the control system of the workpiece rotation axis C2, the radial feed axis X of the honing wheel and the axial feed axis Z1 of the honing wheel and the time-varying honing force model, the time-varying honing force, i.e. the actual honing force, is obtained.

[0091] The actual honing force is compared with the preset reference honing force. When the actual honing force is greater than the reference honing force, the axial feed speed f of the honing wheel's axial feed axis Z1 is obtained through two PID controllers. z The negative compensation amount and the radial feed amount f of the honing wheel radial feed axis X x The negative compensation amount is respectively compared with the given axial feed speed f of the honing wheel axial feed axis Z1. z The radial feed amount f of the honing wheel radial feed axis X x Adding these together reduces the axial feed speed f of the honing wheel's axial feed axis Z1. z The radial feed amount f of the honing wheel radial feed axis X x This reduces the actual honing force; when the actual honing force is less than the reference honing force, the axial feed speed f of the honing wheel's axial feed axis Z1 is obtained through two PID controllers. z The positive compensation amount and the radial feed amount f of the honing wheel radial feed axis X x The positive compensation amount is respectively compared with the given axial feed speed f of the honing wheel axial feed axis Z1. z The radial feed amount f of the honing wheel radial feed axis X x Adding these together increases the axial feed speed f of the honing wheel's axial feed axis Z1. z The radial feed amount f of the honing wheel radial feed axis X x This increases the actual honing force.

[0092] The beneficial technical effects of this invention are reflected in the following aspects:

[0093] 1. The honing control method of the present invention, which is based on the stable control of honing force for internal meshing high-strength honing, establishes a dynamic model of the honing process according to the internal meshing high-strength honing process, and calculates the time-varying honing force during the honing process. The modeling method is simple and easy to calculate. While maintaining an accuracy of over 90%, it reduces the calculation time by two-thirds and can accurately and quickly predict the time-varying honing force during the honing process.

[0094] 2. The honing control method of the present invention, which is based on the stable control of honing force, constructs a dynamic model of the control system of the main machining axis of the honing machine according to the structure of the CNC internal meshing high-strength honing machine. It can realize the speed control of the main machining axis of the honing machine and provide technical support for the control of machining process parameters during honing.

[0095] 3. The honing control method of the present invention, which is based on stable honing force control for internal meshing high-strength honing, uses a single closed-loop real-time control method for honing force based on adjusting the axial feed rate and a double closed-loop real-time control method for honing force based on adjusting the axial feed rate and radial feed amount to control the time-varying honing force in real time during the honing process. This achieves a reduction of 42.9% and 60% in the amplitude of the honing force, respectively, providing an efficient control method for stable honing during the honing process.

[0096] 4. The honing control method of the present invention, which is based on the stable control of honing force for internal meshing high-strength honing, obtains a time-varying honing force model affected by process parameters by establishing a time-varying honing force model and a dynamic model of the control system of the main machining axis during the honing process. By adjusting the relevant machining process parameters in real time, the honing force is controlled in real time. The method is simple, the operation steps are convenient, and the control effect is good. It provides a simple and efficient method for the establishment and real-time control of machining forces for various machine tools. Attached Figure Description

[0097] Figure 1 This is a flowchart of the honing control method for internal meshing high-strength honing teeth based on stable honing force control according to the present invention.

[0098] Figure 2 This is a structural diagram of the CNC internal meshing high-strength honing machine of the present invention;

[0099] Figure 3 This is a dynamic model diagram of the honing process of the present invention;

[0100] Figure 4 This is a flowchart illustrating the calculation of time-varying honing force during the honing process of the present invention.

[0101] Figure 5 This is a time-varying honing force diagram of the honing process of the present invention;

[0102] Figure 6 This is a dynamic model diagram of the control system of the axial feed axis Z1 of the honing wheel in this invention;

[0103] Figure 7 This is a dynamic model diagram of the control system for the radial feed axis X of the honing wheel in this invention;

[0104] Figure 8 This is a dynamic model diagram of the control system for the workpiece rotation shaft C2 of the present invention;

[0105] Figure 9 This is a diagram of the honing force single closed-loop real-time control method of the present invention;

[0106] Figure 10 Simulation diagrams of honing force and axial feed rate under no-closed-loop control and single-closed-loop control of the present invention;

[0107] Figure 11 This is a diagram of the honing force dual closed-loop real-time control method of the present invention;

[0108] Figure 12 Simulation diagrams of honing force, axial feed rate, and radial feed amount during single-loop and dual-loop control of this invention;

[0109] Figure 13 The figures show experimental results of honing force, axial feed rate, and radial feed rate under no-closed-loop control, single-closed-loop control, and double-closed-loop control of this invention. Detailed Implementation

[0110] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0111] Example 1

[0112] See Figure 2 The CNC internal meshing high-strength honing machine has seven motion axes: honing wheel rotation axis C1, workpiece rotation axis C2, honing wheel radial feed axis X, honing wheel axial feed axis Z1, honing wheel base swing axis B, honing wheel tilt swing axis A, and workpiece gear base axial auxiliary motion axis Z2.

[0113] The basic parameters of the honing wheel and the workpiece gear in this embodiment 1 are shown in the table below:

[0114] parameter Honing wheel workpiece gear Material Microcrystalline corundum 20CrMnTi Module / mm 2.25 2.25 Number of teeth 123 73 Helix angle / ° 41.722 33 Pressure angle / ° 20 20

[0115] See Figure 1 The operation steps of the honing control method based on stable honing force control for internal meshing high-strength honing are as follows:

[0116] Step (1) Establish a dynamic model of the honing process.

[0117] Based on the internal meshing high-strength honing process, a dynamic model of the honing process is established;

[0118] See Figure 3 A dynamic model of the honing process;

[0119] Taking the honing wheel as the research object, a dynamic model of the honing wheel is established based on the lumped parameter method, and the formula is as follows:

[0120]

[0121] Taking the workpiece gear as the research object, a dynamic model of the workpiece gear is established based on the lumped parameter method, and the formula is as follows:

[0122]

[0123] In equations (1) and (2), m1 is the mass of the honing wheel, and m2 is the mass of the workpiece gear; J1 is the moment of inertia of the honing wheel, and J2 is the moment of inertia of the workpiece gear; M1 is the driving torque of the honing wheel, and M2 is the driving torque of the workpiece gear; x1, y1, z1, and θ1 are the displacements of the honing wheel in the X, Y, Z, and rotational directions, respectively; x2, y2, z2, and θ2 are the displacements of the workpiece gear in the X, Y, Z, and rotational directions, respectively; k 1x k 1y k 1z k represents the stiffness of the honing wheel in the X, Y, and Z directions. 2x k 2y k 2z c represents the stiffness of the workpiece gear in the X, Y, and Z directions; 1x c 1y c 1z c represents the damping of the honing wheel in the X, Y, and Z directions; 2x c 2y c 2z F represents the damping of the workpiece gear in the X, Y, and Z directions. x F y F z The honing normal force F n Components in the X, Y, and Z directions respectively;

[0124] Based on the gear meshing relationship between the honing wheel and the workpiece, F x F y F z With F n The mapping formula is as follows:

[0125]

[0126] In equation (3), F n α is the honing normal force, β is the pressure angle of the workpiece gear, and β is the helix angle of the workpiece gear.

[0127] Step (2) Calculate the time-varying honing force during the honing process.

[0128] Based on the dynamic model of the honing wheel and the dynamic model of the workpiece gear, the honing normal force is calculated by calculating the time-varying meshing stiffness, meshing damping and contact deformation of the honing wheel and the workpiece gear during the meshing process.

[0129] The time-varying honing force can be decomposed into honing normal force and honing friction force along and perpendicular to the meshing direction. The time-varying honing force is the resultant of the honing normal force and honing friction force, and the resultant formula is as follows:

[0130]

[0131] In equation (4), F is the time-varying honing force, F n For honing normal force, F f For honing friction;

[0132] See Figure 4 The calculation process of time-varying honing force in the honing process;

[0133] Based on the dynamic model of the honing wheel and the dynamic model of the workpiece gear, the honing normal force is calculated by calculating the time-varying meshing stiffness, meshing damping and contact deformation of the honing wheel and the workpiece gear during the meshing process, and thus the time-varying honing force is calculated.

[0134] During gear honing, the time-varying meshing stiffness is approximated using a Fourier expansion, as shown in the following formula:

[0135] k m =k g +a m cos(ω m t)+b m sin(ω m t) (11)

[0136] In equation (11), k m For time-varying meshing stiffness, k g a m b m These are the constant term, first-order cosine term, and sine term in the Fourier expansion, respectively, ω m t is the meshing frequency, and t is time;

[0137] Meshing damping is related to time-varying meshing stiffness, as shown in the following formula:

[0138]

[0139] In equation (12), c m For meshing damping, ξ is the damping ratio, which is 0.03 to 0.17; r1 is the pitch circle radius of the honing wheel, and r2 is the pitch circle radius of the workpiece gear; J1 is the moment of inertia of the honing wheel, and J2 is the moment of inertia of the workpiece gear.

[0140] During gear honing, the workpiece gear is fixed, and the honing wheel performs radial and axial feeds to form the honing thickness, as shown in the following formula:

[0141] a p =f x sinα+f z cosαsinβ (13)

[0142] In equation (13), a p For honing thickness, fx f is the radial feed rate. z α is the axial feed rate, β is the pressure angle of the workpiece gear, and β is the helix angle of the workpiece gear.

[0143] Time-varying honing force is usually calculated based on the equivalent honing thickness. The equivalent honing thickness is related to the honing thickness and the ratio of the sliding speeds of the honing wheel and the workpiece gear, as shown in the following formula:

[0144] a eq =qa p (14)

[0145] In equation (14), a eq The equivalent honing thickness is given by q, where q is the speed ratio between the honing wheel and the workpiece gear in the sliding friction direction.

[0146] According to equations (1) and (2), the time-varying honing force will cause the honing wheel and the workpiece gear to vibrate, thereby causing the actual honing thickness to change during the machining process. The formula for the change in honing thickness is as follows:

[0147] a bh =(x1-x2)sinα+(y1-y2+θ1r1-θ2r2)cosαcosβ+(z1-z2)cosαsinβ (15)

[0148] In equation (15), a bh Let x1, y1, z1, and θ1 represent the changes in honing thickness, and let x2, y2, z2, and θ2 represent the displacements of the honing wheel in the X, Y, Z, and rotational directions, respectively.

[0149] During gear honing, the honing wheel and the workpiece gear undergo meshing deformation. The deformation is represented by the actual honing thickness during the honing process. The formula for the actual honing thickness is as follows:

[0150] δ=a eq +a bh (16)

[0151] In equation (16), δ is the actual honing thickness;

[0152] The first derivative of the actual honing thickness is:

[0153]

[0154] In equation (17), dδ is the first derivative of the actual honing thickness, dt is the differential of the actual honing thickness, and dt is the differential of time.

[0155] During gear honing, the honing force along the meshing direction and perpendicular to the meshing direction can be decomposed into honing normal force and honing friction force; the honing normal force is the meshing force between the honing wheel and the workpiece gear, as shown in the following formula:

[0156]

[0157] In equation (18), F n For honing normal force, k m For time-varying meshing stiffness, c m For meshing damping;

[0158] The formula for honing friction is as follows:

[0159] F f =μF n (19)

[0160] In equation (19), F f denoted as honing friction force, and μ as the tooth surface friction coefficient;

[0161] The time-varying honing force is the resultant of the honing normal force and the honing friction force, as shown in the following formula:

[0162]

[0163] The process parameters for honing are: S c =1300rmin,f x = 5μm / stroke, f z =130mm / min, the time-varying honing force is calculated to be F =112~152N;

[0164] The specific values ​​of time-varying honing force as a function of time are shown in the table below:

[0165]

[0166]

[0167] See Figure 5 The time-varying honing force exhibits a reciprocating oscillating change over time, and the oscillation frequency is related to the rotational speed S of the workpiece's rotating shaft C2. c The oscillation amplitude is related to the radial feed amount f of the radial feed axis X of the honing wheel. x The axial feed speed f of the honing wheel's axial feed axis Z1 z related.

[0168] Step (3) Construct the dynamic model of the control system for the workpiece rotation axis C2, the radial feed axis X of the honing wheel, and the axial feed axis Z1 of the honing wheel.

[0169] Based on the structure of the internal meshing high-strength honing machine, a dynamic model of the control system for the workpiece rotation axis C2, the radial feed axis X of the honing wheel, and the axial feed axis Z1 of the honing wheel is constructed.

[0170] During the internal meshing high-force honing process, the machining parameters that affect the honing force are: the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z Therefore, dynamic models are constructed for the control systems of the workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1, respectively.

[0171] The workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1 are all driven by AC servo motors. The workpiece rotation axis C2, the honing wheel radial feed axis X, and the honing wheel axial feed axis Z1 are all controlled by a three-loop control method. Therefore, one of them is modeled first; the dynamic model of the control system of the honing wheel axial feed axis Z1 is established.

[0172] When the AC servo motor is running, based on voltage balance and force balance, the dynamic equations of the servo motor for the axial feed axis Z1 of the honing wheel are as follows:

[0173]

[0174] In equation (5), L z R z I z E represents the equivalent inductance, resistance, and current of the AC servo motor for the axial feed axis Z1 of the honing wheel. z U is the back electromotive force of the servo motor coil. z To control the voltage, k ez and k fz These are the electromotive force coefficient and torque coefficient of the servo motor, respectively, θ z and τ z These are the rotation angle and torque of the servo motor, respectively. gz J is the reduction ratio of the axial feed shaft Z1 of the honing wheel. z B is the equivalent inertia of the axial feed shaft Z1 of the honing wheel. z For damping, F fz For load capacity;

[0175] The control system for the axial feed axis Z1 of the honing wheel adopts a control algorithm that connects the position loop, speed loop, and current loop in series. The current loop and speed loop use PI controllers, and the position loop uses a P controller. The dynamic equations of the control loop for the axial feed axis Z1 of the honing wheel are as follows:

[0176]

[0177] In equation (6), I refz V refz P refz P represents the reference input for the current loop, velocity loop, and position loop, respectively. z and V z K represents the displacement and velocity of the honing wheel along the Z-direction, driven by the servo motor of the axial feed axis Z1 of the honing wheel. ipz K iiz These represent the proportional gain and integral gain of the current loop, respectively, K vpz K viz These are the proportional gain and integral gain of the velocity loop, respectively, K ppz The proportional gain of the position loop;

[0178] See Figure 6 Dynamic model of the control system of the axial feed axis Z1 of the honing wheel of the internal meshing high-strength honing machine.

[0179] Similarly, dynamic models of the control systems for the radial feed axis X of the honing wheel and the workpiece rotation axis C2 are established respectively;

[0180] A dynamic model of the control system for the radial feed axis X of the honing wheel is established. The dynamic equations of the servo motor for the radial feed axis X of the honing wheel are as follows:

[0181]

[0182] In equation (7), L x R x I x E represents the equivalent inductance, resistance, and current of the AC servo motor for the radial feed axis X of the honing wheel. x U is the back electromotive force of the servo motor coil. x To control the voltage, k ex and k fx These are the electromotive force coefficient and torque coefficient of the servo motor, respectively, θ x and τ x These are the rotation angle and torque of the servo motor, respectively. gx J is the reduction ratio of the radial feed axis X of the honing wheel. x B is the equivalent inertia of the radial feed axis X of the honing wheel. x For damping, F fx For load capacity;

[0183] The dynamic equations for the control loop of the honing wheel radial feed axis X are as follows:

[0184]

[0185] In equation (8), I refx Vrefx P refx P represents the reference input for the current loop, velocity loop, and position loop, respectively. x and V x K represents the displacement and velocity of the honing wheel along the X direction, driven by the servo motor of the radial feed axis X of the honing wheel. ipx K iix These represent the proportional gain and integral gain of the current loop, respectively, K vpx K vix These are the proportional gain and integral gain of the velocity loop, respectively, K ppx The proportional gain of the position loop;

[0186] See Figure 7 Dynamic model of the control system of the radial feed axis X of the honing wheel of the internal meshing high-strength honing machine.

[0187] A dynamic model of the control system for the workpiece rotation axis C2 is established. The dynamic equations of the servo motor of the workpiece rotation axis C2 are as follows:

[0188]

[0189] In equation (9), L c R c I c E represents the equivalent inductance, resistance, and current of the AC servo motor for the workpiece rotation axis C2. c U is the back electromotive force of the servo motor coil. c To control the voltage, k ec and k fc These are the electromotive force coefficient and torque coefficient of the servo motor, respectively, θ c and τ c These are the rotation angle and torque of the servo motor, respectively. gc J is the reduction ratio of the workpiece rotation shaft C2. c B is the equivalent inertia of the workpiece's rotation axis C2. c For damping, F fc For load capacity;

[0190] The dynamic equations for the control loop of the workpiece rotation axis C2 are as follows:

[0191]

[0192] In equation (10), I refc V refc P refc P represents the reference input for the current loop, velocity loop, and position loop, respectively. c and V c K represents the displacement and velocity of the workpiece gear driven by the servo motor of the workpiece rotation axis C2 along the rotation direction. ipcK iic These represent the proportional gain and integral gain of the current loop, respectively, K vpc K vic These are the proportional gain and integral gain of the velocity loop, respectively, K ppc The proportional gain of the position loop;

[0193] See Figure 8 Dynamic model of the control system of the workpiece rotation shaft C2 of the internal meshing high-strength honing machine.

[0194] Step (4) Achieve smooth honing using a single closed-loop real-time control method for honing force based on adjusting the axial feed rate.

[0195] Based on a single closed-loop real-time control method that adjusts the axial feed rate, the time-varying honing force during the honing process is controlled in real time to achieve smooth honing.

[0196] During gear honing, the honing force is mainly determined by the rotational speed S of the workpiece's rotating shaft C2. c The radial feed amount f of the honing wheel radial feed axis X x The axial feed speed f of the honing wheel axial feed axis Z1 z The influence of the radial feed amount f of the honing wheel radial feed axis X. x The effect on honing force is most significant, and the axial feed speed f of the honing wheel's axial feed axis Z1 is also important. z Secondly, the rotational speed S of the workpiece's rotating shaft C2 c Minimal impact;

[0197] Based on adjusting the axial feed speed f of the honing wheel axial feed axis Z1 z The single closed-loop real-time control method uses a PID controller to control the axial feed speed f of the honing wheel's axial feed axis Z1. z Real-time adjustments are made to control the time-varying honing force during the honing process, thereby achieving stable honing.

[0198] See Figure 9 A single closed-loop real-time control method for honing force;

[0199] The single-loop real-time control model of honing force was simulated in the Simulink environment, where the parameters of the PID controller on the axial feed axis Z1 of the honing wheel were P=0.05, I=0.01, and D=0.

[0200] See Figure 10 In the diagram, A represents the simulated honing force and axial feed rate without closed-loop control, from top to bottom. Under closed-loop control, the simulated honing force is F = 116–149 N, and the axial feed rate is f0. z =130mm / min;

[0201] See Figure 10 In the diagram, B represents the simulated honing force and axial feed rate under single-loop control, from top to bottom. Under single-loop control, the simulated honing force is F = 123–140 N, and the axial feed rate is f0. z =104~157mm / min;

[0202] Compared with control without closed loop, the honing force amplitude decreased by 48.5% under single closed loop control, indicating that the single closed loop real-time control method for honing force has a good effect.

[0203] Step (5) Achieve smooth honing using a dual closed-loop real-time control method based on adjusting the axial feed rate and radial feed rate of the honing force.

[0204] Based on a dual closed-loop real-time control method that adjusts the axial feed rate and radial feed amount, the time-varying honing force during the honing process is controlled in real time to achieve smooth honing.

[0205] Based on the axial feed speed f of the honing wheel axial feed axis Z1 z While achieving smooth honing, the radial feed amount f of the honing wheel's radial feed axis X is simultaneously adjusted. x This results in better control of smooth honing;

[0206] Based on adjusting the axial feed speed f of the honing wheel axial feed axis Z1 z The radial feed amount f of the honing wheel radial feed axis X x The dual closed-loop real-time control method employs two PID controllers to control the axial feed speed f of the honing wheel's axial feed axis Z1. z The radial feed amount f of the honing wheel radial feed axis X x Real-time control is performed to control the time-varying honing force during the honing process, thereby achieving better and smoother honing.

[0207] See Figure 11 A dual-closed-loop real-time control method for honing force;

[0208] The dual closed-loop real-time control model of honing force was simulated in the Simulink environment. The parameters of the PID controller on the axial feed axis Z1 of the honing wheel are P=0.05, I=0.01, and D=0, and the parameters of the PID controller on the radial feed axis X of the honing wheel are P=0.15, I=0.01, and D=0.

[0209] See Figure 12 In the diagram, A represents the simulated honing force, axial feed rate, and radial feed rate under single-loop control, from top to bottom. Under single-loop control, the simulated honing force is F = 123–141 N, and the axial feed rate is f... z=105~158mm / min, radial feed rate is f x = 5μm / stroke;

[0210] See Figure 12 In section B, from top to bottom, are the simulated honing force, axial feed rate, and radial feed rate under dual closed-loop control. Under dual closed-loop control, the simulated honing force is F = 126–138 N, and the axial feed rate is f... z =115~148mm / min, radial feed rate is f x = 4.6~5.4μm / stroke;

[0211] Compared with single closed-loop control, the honing force amplitude decreased by 33.3% and the axial feed rate variation range decreased by 37.7% under dual closed-loop control, while the radial feed rate became 4.6–5.4 μm / stroke. The commonly used radial feed rate range for honing is 2–8 μm / stroke, and the variation in radial feed rate only accounts for 13.3% of the commonly used radial feed rate range for honing. This indicates that the dual closed-loop real-time control method for honing force has better performance, and the variation range of both axial feed rate and radial feed rate is smaller, which is more conducive to a smooth honing process.

[0212] Based on the proposed honing force single-loop and double-loop real-time control methods, honing force control experiments were conducted on an experimental platform consisting of Matlab / Simulink and ControlDesk software, dSPACE MicroLabBox controller, Panasonic servo driver and Panasonic servo motor, respectively, for honing force control without loop, single-loop control and double-loop control.

[0213] The parameters of the PID controllers during the experiment were as follows: For single-loop control, the parameters of the PID controller on the axial feed axis Z1 of the honing wheel were P = 0.05, I = 0.01, and D = 0.1; for double-loop control, the parameters of the PID controller on the axial feed axis Z1 of the honing wheel were P = 0.06, I = 0.01, and D = 0.1, and the parameters of the PID controller on the radial feed axis X of the honing wheel were P = 0.05, I = 0.01, and D = 0.1. The honing force, axial feed rate, and radial feed amount were recorded in real time during the experiment to obtain the honing force, axial feed rate, and radial feed amount under no-loop control, single-loop control, and double-loop control conditions.

[0214] See Figure 13 In the diagram, A represents, from top to bottom, the honing force, axial feed rate, and radial feed rate without closed-loop control. Without closed-loop control, the experimentally obtained honing force is F = 115–150 N, and the axial feed rate is f... z =128~132mm / min, radial feed rate is f x = 5μm / stroke;

[0215] See Figure 13 In the diagram, B represents, from top to bottom, the honing force, axial feed rate, and radial feed rate under single-loop control. Under single-loop control, the experimentally obtained honing force is F = 121–141 N, and the axial feed rate is f... z =94~165mm / min, radial feed rate is f x = 5μm / stroke;

[0216] See Figure 13 In the diagram, C represents, from top to bottom, the honing force, axial feed rate, and radial feed rate under dual closed-loop control. Under dual closed-loop control, the experimentally obtained honing force is F = 124–138 N, and the axial feed rate is f... z =112~150mm / min, radial feed rate is f x = 4.5~5.5μm / stroke;

[0217] Experimental results show that, compared with no closed-loop control, the honing force amplitude decreased by 42.9% under single closed-loop control and by 60.0% under double closed-loop control, indicating that both single and double closed-loop real-time control methods for honing force have good effects.

[0218] Compared with single closed-loop control, the range of axial feed rate variation under dual closed-loop control decreased by 46.5%, while the radial feed rate became 4.5–5.5 μm / stroke. The commonly used radial feed rate range for honing is 2–8 μm / stroke, and the variation in radial feed rate only accounts for 16.7% of the commonly used radial feed rate range for honing. This indicates that the dual closed-loop real-time control method for honing force not only has better control effect, but also has a smaller range of variation for both axial feed rate and radial feed rate, which is more conducive to a smooth honing process.

Claims

1. A kind of internal meshing strong force gear honing based on honing force smooth control method, the smooth honing control method is suitable for internal meshing strong force gear honing machining process, the numerical control internal meshing strong force gear honing machine used has seven movement axes: honing wheel rotation axis , workpiece rotation axis , honing wheel radial feed axis X, honing wheel axial feed axis , honing wheel base swing axis B, honing wheel inclination swing axis A, workpiece gear base axial auxiliary movement axis ; characterized in that The smooth honing control operation steps are as follows: (1) Establish the dynamic model of the honing gear machining process Taking the honing wheel as the research object, the dynamic model of the honing wheel is established according to the lumped parameter method, and the formula is as follows: （1） Taking the workpiece gear as the research object, the dynamic model of the workpiece gear is established according to the lumped parameter method, and the formula is as follows: （2） in formulas (1) and (2), is the mass of the honing wheel, is the mass of the workpiece gear; is the moment of inertia of the honing wheel, is the moment of inertia of the workpiece gear; is the drive torque of the honing wheel, is the drive torque of the workpiece gear; , , , is the displacement of the honing wheel in the X direction, Y direction, Z direction, and rotational direction; , , , is the displacement of the workpiece gear in the X direction, Y direction, Z direction, and rotational direction; , , is the stiffness of the honing wheel in the X direction, Y direction, and Z direction; , , is the stiffness of the workpiece gear in the X direction, Y direction, and Z direction; , , is the damping of the honing wheel in the X direction, Y direction, and Z direction; , , is the damping of the workpiece gear in the X direction, Y direction, and Z direction; , , is the honing normal force is the component in the X direction, Y direction, and Z direction, respectively; According to the meshing relationship between the honing wheel and the workpiece gear, , , and The mapping relationship formula is as follows: （3） In formula (3), is the honing normal force, is the pressure angle of the workpiece gear, is the helix angle of the workpiece gear; (2) Calculate the time-varying honing force in the honing gear machining process According to the dynamic model of the honing wheel and the dynamic model of the workpiece gear, the time-varying meshing stiffness, meshing damping and contact deformation of the honing wheel and the workpiece gear in the meshing process are calculated, and the honing normal force is calculated; The time-varying honing force along the meshing direction and perpendicular to the meshing direction can be decomposed into honing normal force and honing friction force, and the time-varying honing force is the synthesis of honing normal force and honing friction force, and the synthesis formula is as follows: （4） In formula (4), F is a time-varying honing force, is a honing normal force, is a honing friction force; (3) Constructing the control system dynamics model of the workpiece rotation axis , the honing wheel radial feed axis X and the honing wheel axial feed axis ​ In the process of internal meshing high-strength honing, the machining parameters that affect the honing force are: workpiece rotation axis. rotational speed Radial feed amount of the honing wheel radial feed axis X axial feed shaft of honing wheel Axial feed rate Therefore, the workpiece rotation shaft was respectively... The radial feed axis X of the honing wheel and the axial feed axis of the honing wheel The control system is constructed with a dynamic model; The workpiece rotation axis , the honing wheel radial feed axis X and the honing wheel axial feed axis are all driven by AC servo motors, and the workpiece rotation axis , the honing wheel radial feed axis X and the honing wheel axial feed axis all adopt three-loop control mode, so one of them is modeled first; the control system dynamics model of the honing wheel axial feed axis is established; The axial feed shaft of the honing wheel is driven by the AC servo motor according to voltage balance and force balance The dynamic equation set of the servo motor is as follows: （5） In formula (5), , , are the equivalent inductance, resistance and current of the AC servo motor of the honing wheel axial feed shaft , is the counter electromotive force of the servo motor coil, is the control voltage, and are the electromotive force coefficient and torque coefficient of the servo motor, respectively, and are the rotation angle and torque of the servo motor, respectively, is the reduction ratio of the honing wheel axial feed shaft , is the equivalent inertia of the honing wheel axial feed shaft , is the damping, is the load force; Honing wheel axial feed shaft The control system adopts a control algorithm in which a position loop, a speed loop and a current loop are connected in series, the current loop and the speed loop adopt PI controllers, and the position loop adopts a P controller. The dynamic equation set formula of the control loop of the honing wheel axial feed shaft is as follows: （6） In equation (6), , , These are the reference inputs for the current loop, velocity loop, and position loop, respectively. and These are the axial feed axes of the honing wheel. The servo motor drives the honing wheel's displacement and speed along the Z direction. , These are the proportional gain and integral gain of the current loop, respectively. , These are the proportional gain and integral gain of the velocity loop, respectively. The proportional gain of the position loop; Similarly, the control system dynamics models of the honing wheel radial feed axis X and the workpiece rotation axis Y are respectively established . The dynamic model of the control system of the honing wheel radial feed shaft X is established, and the dynamic equation group formula of the servo motor of the honing wheel radial feed shaft X is as follows: （7） In formula (7), , , L, R and I are the equivalent inductance, resistance and current of the AC servo motor of the honing wheel radial feed axis X respectively, E is the back electromotive force of the servo motor coil, U is the control voltage, and Kt and Kd are the electromotive force coefficient and torque coefficient of the servo motor respectively, and θ and T are the rotation angle and torque of the servo motor respectively, I is the reduction ratio of the honing wheel radial feed axis X, J is the equivalent inertia of the honing wheel radial feed axis X, C is the damping, F is the load force; The dynamic equation group formula of the control loop of the honing wheel radial feed shaft X is as follows: （8） In formula (8), , , are the reference input of the current loop, the speed loop and the position loop respectively, and are the displacement and speed of the honing wheel driven by the servo motor of the honing wheel radial feed shaft X along the X direction respectively, , are the proportional gain and integral gain of the current loop respectively, , are the proportional gain and integral gain of the speed loop respectively, is the proportional gain of the position loop; A control system dynamics model of a workpiece rotation axis is established, and a dynamics equation set formula of a servo motor of the workpiece rotation axis is as follows: （9） In formula (9), , , are the equivalent inductance, resistance and current of the AC servo motor of the workpiece rotation shaft , is the counter electromotive force of the servo motor coil, is the control voltage, and are the electromotive force coefficient and torque coefficient of the servo motor, respectively, and are the rotation angle and torque of the servo motor, respectively, is the reduction ratio of the workpiece rotation shaft , is the equivalent inertia of the workpiece rotation shaft , is the damping, is the load force; Workpiece rotation axis The kinetic equation of the control loop is given by the following formula: （10） In formula (10), , , are respectively reference input of current loop, speed loop and position loop, and are respectively displacement and speed of servo motor driving workpiece gear along rotation direction of workpiece rotation axis , , are respectively proportional gain and integral gain of current loop, , are respectively proportional gain and integral gain of speed loop, is proportional gain of position loop. (4) Realize smooth honing based on the honing force single closed loop real-time control method of adjusting the axial feed speed During gear honing, the honing force is mainly affected by the workpiece's rotation axis. rotational speed Radial feed amount of the honing wheel radial feed axis X axial feed shaft of honing wheel Axial feed rate The influence of the radial feed amount of the honing wheel radial feed axis X. The effect on honing force is most significant on the axial feed axis of the honing wheel. Axial feed rate Secondly, the workpiece rotation axis rotational speed Minimal impact; Axial feed shaft for regulating axial feed speed of honing wheel Axial feed shaft for regulating axial feed speed of honing wheel Single closed loop real-time control method for regulating axial feed speed of honing wheel axial feed shaft Single closed loop real-time control method for regulating axial feed speed of honing wheel axial feed shaft Single closed loop real-time control method for regulating axial feed speed of honing wheel axial feed shaft The specific operation is as follows: During gear honing, given the following honing process parameters: workpiece rotation axis rotational speed Radial feed amount of the honing wheel radial feed axis X axial feed shaft of honing wheel Axial feed rate According to the workpiece rotation axis The radial feed axis X of the honing wheel and the axial feed axis of the honing wheel The control system dynamics model and the time-varying honing force model are used to obtain the time-varying honing force; The time-varying honing force is compared with a preset reference honing force. When the time-varying honing force is greater than or less than the reference honing force, the axial feed axis of the honing wheel is adjusted. Axial feed rate The time-varying honing force is reduced or increased in real time, so that the time-varying honing force and the reference honing force are always kept close, thereby achieving smooth honing. (5) Realize smooth honing based on the honing force double closed loop real-time control method of adjusting the axial feed speed and the radial feed amount The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The axial feed speed of the axial feed shaft of the honing wheel is adjusted based on the radial feed amount of the radial feed shaft X of the honing wheel The specific operation is as follows: During gear honing, given the following honing process parameters: workpiece rotation axis rotational speed Radial feed amount of the honing wheel radial feed axis X axial feed shaft of honing wheel Axial feed rate According to the workpiece rotation axis The radial feed axis X of the honing wheel and the axial feed axis of the honing wheel The control system dynamics model and the time-varying honing force model are used to obtain the time-varying honing force; The time-varying honing force is compared with a preset reference honing force. When the time-varying honing force is greater than or less than the reference honing force, the axial feed axis of the honing wheel is adjusted. Axial feed rate Radial feed amount of the honing wheel radial feed axis X The time-varying honing force is reduced or increased in real time, so that the time-varying honing force always remains close to the reference honing force, thereby achieving smooth honing.

2. The method according to claim 1, wherein the method is characterized by: In step (2), the specific operation is as follows: In the honing gear machining process, the time-varying meshing stiffness is approximated by Fourier expansion, and the formula is as follows: （11） In formula (11), is a time-varying engagement stiffness, , , are constant term, first order cosine term and sine term of Fourier expansion, respectively, is an engagement frequency, and t is time. The meshing damping is related to the time-varying meshing stiffness, and the formula is as follows: （12） In formula (12), is the engagement damping, is the damping ratio, the damping ratio being 0.03-0.17; is the pitch circle radius of the honing wheel, is the pitch circle radius of the workpiece gear; is the moment of inertia of the honing wheel, is the moment of inertia of the workpiece gear; In the honing gear machining process, the workpiece gear is fixed, the honing wheel is radially fed and axially fed, and the honing thickness is formed, and the formula is as follows: （13） In formula (13), is the honing thickness, is the radial feed amount, is the axial feed speed, is the pressure angle of the workpiece gear, is the helix angle of the workpiece gear; The time-varying honing force is usually calculated by equivalent honing thickness, and the equivalent honing thickness is related to the honing thickness, the sliding speed ratio of the honing wheel and the workpiece gear, and the formula is as follows: （14） In formula (14), is the equivalent honing thickness, q is the speed ratio of the honing wheel and the workpiece gear in the sliding direction. According to formula (1) and formula (2), the time-varying honing force will cause vibration of the honing wheel and the workpiece gear, thereby changing the actual honing thickness in the machining process, and the honing thickness change formula is as follows: （15） In formula (15), is a honing thickness variation amount, , , , is a displacement of the honing wheel in the X direction, the Y direction, the Z direction, and the rotation direction; , , , is a displacement of the workpiece gear in the X direction, the Y direction, the Z direction, and the rotation direction; In the honing gear machining process, the honing wheel and the workpiece gear produce meshing deformation, and the deformation is represented by the actual honing thickness in the honing gear machining process, and the actual honing thickness formula is as follows: （16） In formula (16), is the actual honing thickness; The first derivative of the actual honing thickness is: （17） In formula (17), is the first derivative of the actual honing thickness, is the differential of the actual honing thickness, is the differential of time; In the honing gear machining process, the honing force along the meshing direction and perpendicular to the meshing direction can be decomposed into honing normal force and honing friction force; the honing normal force is the meshing force of the honing wheel and the workpiece gear, and the formula is as follows: （18） In formula (18), is the honing normal force, is the time-varying engagement stiffness, is the engagement damping; The honing friction force formula is as follows: （19） In formula (19), is the honing friction force, is the flank friction coefficient; The time-varying honing force is the synthesis of honing normal force and honing friction force, that is, formula (4) is obtained as follows: （4） In formula (4), F is the time-varying honing force.

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