Active vibration suppression method, system and storage medium based on tool-workpiece system

Abstract

The application discloses a kind of active vibration suppression method, system and storage medium based on tool workpiece system, the method comprises: respectively at the end of spindle of machine tool and TCP position arrangement acceleration sensor;When servo feedback system is closed, hammer acceleration transfer function of the end of spindle and TCP point is obtained according to acceleration sensor through force hammer test;When servo feedback system is set to constant gain, gain acceleration transfer function of the end of spindle and TCP point is determined according to hammer acceleration transfer function;The speed signal of feedback loop is determined according to gain acceleration transfer function;The speed signal of feedback loop is fed back to servo driver, to realize active vibration suppression.The acceleration signal at TCP position point in the application is fed back to servo system as the signal feedback of additional control loop, and the feed driver of machine tool is used to provide active damping signal for structure, so that active suppression to machining process chatter is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical vibration control, and in particular to an active vibration suppression method and system based on a tool-workpiece system and a storage medium. BACKGROUND

[0002] Numerical control machine tools have been widely used in various fields such as automobile manufacturing, aerospace, and automatic production workshop due to their high precision and high efficiency. However, in the actual machining process, cutting chatter often occurs, which is a strong self-excited vibration that seriously affects the machining efficiency, machining quality and service life of the machine tool. The occurrence of chatter is caused by many flexible sources in the machine tool-tool-workpiece system, including the dynamic characteristics of the cutting process itself and the machine tool itself. Therefore, the research on chatter has always been the focus of scholars at home and abroad, including studying the theoretical model of chatter generation from the generation mechanism of chatter and monitoring chatter problems by introducing big data and other methods.

[0003] Chatter vibration from the machine tool structure is the main limitation of heavy milling operations, so there is a lot of research on chatter suppression. The classical method for vibration suppression in the machining process of the machine tool is to place a tuned damper in the system structure, but this passive damper cannot be adjusted according to the actual machining process. In the actual machining process, the dynamics of the system will change with the change of the working position, causing changes in the stiffness distribution in different directions. At this time, the passive damping control strategy lacks a certain flexibility and adaptability. Therefore, how to achieve active suppression of the chatter of the machining system has become a problem to be solved.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide an active vibration suppression method and system based on a tool-workpiece system, which aims to solve the technical problem of how to achieve active suppression of the chatter of the machining system.

[0006] To achieve the above purpose, the present application provides an active vibration suppression method based on a tool-workpiece system, which comprises:

[0007] Arranging acceleration sensors at the end of the spindle and the TCP position of the machine tool, respectively;

[0008] When the servo feedback system is closed, the hammer acceleration transfer function of the spindle end and the TCP point is obtained by the force hammer test according to the acceleration sensor;

[0009] determining a gain acceleration transfer function of the spindle tip and the TCP point according to the force hammer acceleration transfer function when the servo feedback system is set to a constant gain;

[0010] determining a velocity signal of the feedback loop according to the gain acceleration transfer function;

[0011] feeding back the velocity signal of the feedback loop to a servo driver to achieve active vibration suppression.

[0012] Optionally, the step of feeding back the velocity signal of the feedback loop to a servo driver to achieve active vibration suppression comprises:

[0013] capturing a vibration signal of a machine tool component by the acceleration sensor based on the force hammer test;

[0014] determining main vibration modal parameters according to the vibration signal of the machine tool component;

[0015] adjusting the velocity signal of the feedback loop based on the main vibration modal parameters;

[0016] feeding back the adjusted velocity signal of the feedback loop to a servo driver to achieve active vibration suppression.

[0017] Optionally, the step of obtaining a force hammer acceleration transfer function of a spindle tip and a TCP point by a force hammer test according to the acceleration sensor comprises:

[0018] obtaining an acceleration response signal at a spindle tip accelerometer position, an acceleration response signal at a tool tip TCP, a force hammer force at the spindle tip, a tool tip cutting force and a feedback velocity command according to the acceleration sensor by a force hammer test;

[0019] determining a force hammer acceleration transfer function of a spindle tip and a TCP point according to the acceleration response signal at the spindle tip accelerometer position, the acceleration response signal at the tool tip TCP, the force hammer force at the spindle tip, the tool tip cutting force and the feedback velocity command.

[0020] Optionally, the step of determining a gain acceleration transfer function of the spindle tip and the TCP point according to the force hammer acceleration transfer function comprises:

[0021] determining a gain of an acceleration feedback signal;

[0022] determining a gain acceleration transfer function of the spindle tip and the TCP point according to the force hammer acceleration transfer function and the gain of the acceleration feedback signal.

[0023] Optionally, the step of determining main vibration modal parameters according to the vibration signal of the machine tool component comprises:

[0024] decoupling the system modal according to the modal vibration mode and the vibration signal of the machine tool component, and determining the modal contribution of each order;

[0025] determining the main vibration modal parameter according to the modal contribution of each order.

[0026] In addition, to achieve the above object, the present application further provides an active vibration suppression system based on a tool-workpiece system, which comprises:

[0027] a layout module, configured to arrange acceleration sensors at the end of a spindle and a TCP position of a machine tool respectively;

[0028] an acquisition module, configured to acquire a force hammer acceleration transfer function of the end of the spindle and the TCP point according to the acceleration sensors through a force hammer test when a servo feedback system is closed;

[0029] a calculation module, configured to determine a gain acceleration transfer function of the end of the spindle and the TCP point according to the force hammer acceleration transfer function when the servo feedback system is set to constant gain;

[0030] a prediction module, configured to determine a speed signal of a feedback loop according to the gain acceleration transfer function;

[0031] a suppression module, configured to feed back the speed signal of the feedback loop to a servo driver to realize active vibration suppression.

[0032] In addition, to achieve the above object, the present application further provides an active vibration suppression device based on a tool-workpiece system, which comprises a memory, a processor and an active vibration suppression program based on a tool-workpiece system stored in the memory and capable of running on the processor, and the active vibration suppression program based on a tool-workpiece system is configured to realize the steps of the active vibration suppression method based on a tool-workpiece system as described above.

[0033] In addition, to achieve the above object, the present application further provides a storage medium, which stores an active vibration suppression program based on a tool-workpiece system, and the active vibration suppression program based on a tool-workpiece system realizes the steps of the active vibration suppression method based on a tool-workpiece system as described above when executed by a processor.

[0034] The application arranges acceleration sensors at the end of the spindle of the machine tool and the TCP position, firstly, when the servo feedback system is closed, the hammer acceleration transfer function of the end of the spindle and the TCP point is obtained according to the acceleration sensor through the hammer test, then when the servo feedback system is set to constant gain, the gain acceleration transfer function of the end of the spindle and the TCP point is determined according to the hammer acceleration transfer function, then the speed signal of the feedback loop is determined according to the gain acceleration transfer function, and finally the speed signal of the feedback loop is fed back to the servo driver to realize active vibration suppression. Compared with the prior art of placing a tuned damper in the system structure, in the actual machining process, the dynamic characteristics of the system will change with the change of the working position, thereby causing the change of the stiffness distribution in different directions, and in the spindle-end-tool system of the machine tool, excitation is applied to the end of the spindle and the TCP position and experimental modal analysis is carried out, thereby obtaining the main vibration mode of the spindle-end-tool system under the influence of cutting excitation, the acceleration signal at the TCP position is obtained by calculating the measured acceleration signal of the end of the spindle, and is fed back to the servo system as the signal fed back by the additional control loop, the feed drive of the machine tool is used to provide an active damping signal for the structure, thereby realizing active suppression of chatter in the machining process. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 FIG. 1 is a structural schematic diagram of the active vibration suppression device based on the tool-workpiece system of the hardware running environment involved in the embodiment scheme of the application;

[0036] Figure 2 FIG. 2 is a flowchart of the first embodiment of the active vibration suppression method based on the tool-workpiece system of the application;

[0037] Figure 3 FIG. 3 is a system architecture diagram of the first embodiment of the active vibration suppression method based on the tool-workpiece system of the application using end acceleration signal feedback compensation control;

[0038] Figure 4 FIG. 4 is a schematic diagram of the end acceleration sensor arrangement of the machine tool system of the first embodiment of the active vibration suppression method based on the tool-workpiece system of the application;

[0039] Figure 5 FIG. 5 is a schematic diagram of the actual implementation platform of the first embodiment of the active vibration suppression method based on the tool-workpiece system of the application;

[0040] Figure 6 FIG. 6 is a structural block diagram of the first embodiment of the active vibration suppression system based on the tool-workpiece system of the application.

[0041] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0042] It should be understood that the specific embodiments described herein are merely illustrative of the present application and do not limit the present application in any way.

[0043] With reference to Figure 1 , Figure 1 The hardware environment of the embodiment of the present application is shown in the structure diagram of the tool-workpiece system-based active vibration suppression device.

[0044] As shown in Figure 1 , the tool-workpiece system-based active vibration suppression device can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a display, an input unit such as a keyboard, and can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be an independent storage system from the aforementioned processor 1001.

[0045] Those skilled in the art can understand that Figure 1 the structure shown in the foregoing is not a limitation on the tool-workpiece system-based active vibration suppression device, and can include more or fewer components than the diagram, or combine certain components, or different component arrangements.

[0046] As shown in Figure 1 , the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a tool-workpiece system-based active vibration suppression program.

[0047] In Figure 1The network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the active vibration suppression device based on the tool-workpiece system can be arranged in the active vibration suppression device based on the tool-workpiece system, the active vibration suppression device based on the tool-workpiece system calls the active vibration suppression program based on the tool-workpiece system stored in the memory 1005 through the processor 1001, and executes the active vibration suppression method based on the tool-workpiece system provided in the embodiment of the application.

[0048] The embodiment of the application provides a kind of active vibration suppression method based on tool-workpiece system, refer to Figure 2 , Figure 2 It is the flowchart of the first embodiment of the active vibration suppression method based on tool-workpiece system of the application.

[0049] Reference Figure 3 , Figure 3 It is the system architecture diagram of the active vibration suppression method based on tool-workpiece system of the application first embodiment using end acceleration signal feedback compensation control, and the method of the application is described with example of milling machine in the embodiment. First, EMA experiment is carried out in the state of static machine tool, and the acceleration transfer function H ij , the acceleration transfer function H' ij of single input point single output point of main shaft end and tool tip under constant gain is measured, and finally the calculation of speed instruction feedback to front end is carried out. The application can be measured according to the connection transfer function of system, so as to evaluate the transfer function of whole control loop for any gain function, and the tool end system is included in whole control loop.

[0050] In the embodiment, the active vibration suppression method based on tool-workpiece system includes the following steps:

[0051] Step S10: arranging acceleration sensors at the main shaft end and TCP positions of machine tool respectively.

[0052] It is easy to understand that the execution body of the embodiment can be active vibration suppression system based on tool-workpiece system with data processing, network communication and program running and the like, and also can be other computer devices with similar functions, and the embodiment is not limited.

[0053] Reference Figure 4 , Figure 4Fig. 1 is a schematic diagram of an end acceleration sensor arrangement of a machine tool system according to a first embodiment of the tool-workpiece system active vibration suppression method of the present application. The active damping vibration suppression method proposed in this embodiment can be applied to the x, y and z directions, and the implementation method in each direction is the same. In order to facilitate the description of the control principle, the dynamic compliance prediction of the TCP and the design of the active damping feedback compensation control loop are described only for the x direction.

[0054] In a specific implementation, the force hammer acceleration transfer function between the spindle end and the TCP point is obtained by the force hammer test of the acceleration sensor. Figure 4 For example, acceleration sensors are arranged at the spindle end of the machine tool and at the TCP.

[0055] Step S20: When the servo feedback system is closed, the force hammer acceleration transfer function between the spindle end and the TCP point is obtained by the force hammer test of the acceleration sensor.

[0056] The basic principle of the acceleration signal active damping feedback control loop, the input-output relationship of the machine tool system can be expressed as:

[0057] Y(s) = H(s)X(s) (1)

[0058] Where X(s) is the input response signal of the system in the frequency domain, Y(s) is the output response signal of the system in the frequency domain, and H(s) is the system transfer function matrix in the frequency domain, each element of which represents the dynamic characteristic information from the input point to the output point.

[0059] Assuming that n measuring points are arranged at the spindle end, we get:

[0060]

[0061] Where Y i (s) is the output response acceleration signal of the system, F j (s) is the input force of the system, i, j = 1, 2,... n.

[0062] Further, the processing method for obtaining the force hammer acceleration transfer function between the spindle end and the TCP point by the force hammer test of the acceleration sensor is as follows: the acceleration response signal at the spindle end accelerometer position, the acceleration response signal at the TCP of the tool tip, the impact hammer force at the spindle tip, the tool tip cutting force and the feedback speed command are obtained by the force hammer test of the acceleration sensor; the acceleration response signal at the spindle end accelerometer position, the acceleration response signal at the TCP of the tool tip, the impact hammer force at the spindle tip, the tool tip cutting force and the feedback speed command are determined to determine the force hammer acceleration transfer function between the spindle end and the TCP point.

[0063] Reference Figure 5 , Figure 5Fig. 1 is a schematic diagram of an actual implementation platform of a first embodiment of the tool-workpiece system-based active vibration suppression method of the present application. The above formula is applied to the spindle tip and the tool system of a machine tool structure. In the assumption that n measurement points are arranged at the spindle tip and one measurement point is arranged at the TCP (i.e. an acceleration sensor is arranged at the measurement point), and according to the vibration suppression strategy proposed in the present embodiment, the feedback acceleration signal and the speed signal need to be increased, and then the following can be obtained:

[0064]

[0065] wherein a1 to a n are acceleration response signals at the positions of the accelerometers at the spindle tip, a t is an acceleration response signal at the TCP at the tool tip, which is the position point of our interest. H ij represents an acceleration transfer function from the measurement point i to the measurement point j (i.e. a force hammer acceleration transfer function from the spindle tip to the TCP point), for example, H 11 represents an acceleration transfer function from the measurement point 1 to the measurement point 1; H tv represents an acceleration transfer function from the input control loop to the TCP point; f1 to f n is a force hammer force measured at the spindle tip, f t is a cutting force at the tool tip, v r is a feedback speed command fed back to the speed control loop.

[0066] Step S30: When the servo feedback system is set to a constant gain, the gain acceleration transfer function from the spindle tip to the TCP point is determined according to the force hammer acceleration transfer function.

[0067] Further, the processing mode of determining the gain acceleration transfer function from the spindle tip to the TCP point according to the force hammer acceleration transfer function is to determine the gain of the acceleration feedback signal; and the gain acceleration transfer function from the spindle tip to the TCP point is determined according to the force hammer acceleration transfer function and the gain of the acceleration feedback signal.

[0068] In the present embodiment, by combining formula (3), it can be verified that according to the acceleration signal feedback compensation control system architecture shown in formula (4), the post-suppression vibration closed-loop acceleration function at the spindle tip and the tool tip becomes: Figure 3

[0069]

[0070] wherein H ij and H tt are the acceleration transfer functions before correction, K(s) is the gain of the acceleration feedback signal, H ij is the gain acceleration transfer function from the spindle tip to the TCP point. ​

[0071] Step S40: determining a velocity signal of the feedback loop according to the gain acceleration transfer function.

[0072] In a specific implementation, the H t1 ’-H tv ’(gain acceleration transfer function of the velocity of the input control loop to the tool tip point).

[0073] The velocity signal υ r may be calculated by the following formula:

[0074] v r = -K(s) * a t (s) (7)

[0075] wherein K(s) is the gain of the acceleration feedback signal, a t (s) is the acceleration signal of the tool tip point.

[0076] Substituting formula (4) into the above formula gives:

[0077]

[0078] It should be further noted that the evaluation of the transfer function of the entire control loop according to the different gain functions set for the control loop by the above method, and then the effective control of the machine tool body-spindle-tool-workpiece system is realized. The adjustment of the gain function needs to be balanced between performance and stability, and the design is carried out while monitoring the closed-loop tool tip compliance, loop sensitivity and co-sensitivity transfer function, in this embodiment, by adding high-pass and low-pass filters to limit the effective frequency band, to avoid noise entering the control loop; adding a resonance filter to selectively amplify the gain around the vibration mode that needs to be attenuated.

[0079] Step S50: feeding back the velocity signal of the feedback loop to the servo driver to realize active vibration suppression.

[0080] In this embodiment, the vibration signal of the machine tool component is captured by the acceleration sensor based on the force hammer test; the main vibration modal parameter is determined according to the vibration signal of the machine tool component; the velocity signal of the feedback loop is adjusted based on the main vibration modal parameter; and the adjusted velocity signal of the feedback loop is fed back to the servo driver to realize active vibration suppression.

[0081] The processing mode for determining the main vibration modal parameter according to the vibration signal of the machine tool component is to decouple the system modal by Kalman filtering algorithm according to the modal vibration mode and the vibration signal of the machine tool component, to determine the contribution of each order modal; and to determine the main vibration modal parameter according to the contribution of each order modal.

[0082] In the present embodiment, according to the theory of mechanical vibration system, the vibration differential equation of the machining system from the end of the main shaft of the machine tool to the TCP can be expressed as:

[0083]

[0084] wherein, respectively represent the displacement matrix, the velocity matrix and the acceleration matrix of the system, and F represents the input force vector of the system. When converted to the modal coordinate system, it can be expressed as:

[0085]

[0086] wherein, M, C and K are respectively the mass matrix, the damping matrix and the stiffness matrix in the modal coordinate system. φ is the modal vibration mode of the system after mass normalization, q, respectively represent the vibration displacement vector, the velocity vector and the acceleration vector of the system in the modal coordinate system, and F is the input force vector of the system. Since the multi-degree-of-freedom system usually has multiple modes, the above formula can be expressed as:

[0087]

[0088] wherein, q i is the displacement state quantity, Γ i = 2ξ i w i , ξ i and w i are respectively the damping ratio and the natural frequency of the i-th mode, φ i，i represents the modal vibration mode coefficient of the i-th mode of the system corresponding to the i-th degree of freedom, and for the i-th mode, the excitation force signal can be expressed as F = and jwt , and the modal displacement is q i = Q i e jwt , wherein e jwt is a complex vector description of the harmonic response. The expression of the dynamic equation of the i-th mode after decoupling can be expressed as:

[0089]

[0090] Therefore, in the end of the main shaft-tool TCP system, the response of the end of the tool is obtained by linear superposition of each mode, Q i The largest mode means that the contribution of the mode to the response of the entire system is the largest, and in the present application, the response at the actual TCP position is calculated according to the acceleration signal of the measurable position point.

[0091] In actual test, based on the obtained modal shape and the response data of the system, the modal of the system can be decoupled by Kalman filtering algorithm, the contribution of each order modal is estimated, and then the main vibration mode of the system is determined by the contribution of different orders to the system. Thus, the application of active damping in the control loop can be guided according to the main vibration mode of the spindle-end-tool system.

[0092] It should be noted that after designing the gain function of the control loop, some prediction functions need to be set to evaluate the design effect. The influence of the active damping K(s) on the machining chatter stability in the application can be evaluated by predicting the modified flexibility at the tool tip and the predicted sensitivity. The evaluation function of the tool tip modified flexibility is:

[0093]

[0094] Wherein, represents the displacement transfer function of the modified tool tip, and represents the acceleration transfer function of the modified tool tip.

[0095] The sensitivity of the prediction function can be evaluated by the following formula, which can monitor the response characteristics of the sensor closed-loop system:

[0096]

[0097] The sensitivity is a measure of system stability. The constructed sensitivity function and complementary sensitivity function are S, which represents the effective transmission efficiency of the sensor, and T, which represents how much sensor noise affects the output through the control loop (T>1). The design evaluation criterion is to keep S low at the frequency that needs to be effectively controlled; T is as low as possible in the frequency band that does not need to be effectively controlled, to prevent unnecessary vibration of the system, and to achieve the requirement of improving the chatter stability of the machine tool-tool-workpiece system by using the acceleration feedback signal.

[0098] In the embodiment, acceleration sensors are arranged at the spindle end and TCP position of the machine tool respectively, firstly, hammer acceleration transfer functions of the spindle end and TCP point are obtained by hammer test according to the acceleration sensors when the servo feedback system is closed, then gain acceleration transfer functions of the spindle end and TCP point are determined according to the hammer acceleration transfer functions when the servo feedback system is set as constant gain, then the speed signal of the feedback loop is determined according to the gain acceleration transfer functions, finally, the speed signal of the feedback loop is fed back to the servo driver to realize active vibration suppression. Compared with the prior art of placing a tuned vibration damper in the system structure, in the actual machining process, the dynamic characteristics of the system will change with the change of the working position, thereby causing the change of the stiffness distribution in different directions, and in the spindle end-tool system of the machine tool in the embodiment, the main vibration mode of the spindle end-tool system under the influence of cutting excitation is obtained by applying excitation to the spindle end and TCP position and performing experimental modal analysis, the acceleration signal at the TCP position is obtained by calculating the measured acceleration signal of the spindle end, and the acceleration signal is fed back to the servo system as the signal fed back by the additional control loop, the feed driver of the machine tool is used to provide an active damping signal for the structure, thereby realizing active suppression of chatter in the machining process.

[0099] Referring to Figure 6 , Figure 6 FIG. 1 is a structural block diagram of a first embodiment of an active vibration suppression system based on a tool-workpiece system according to the present application.

[0100] As shown in Figure 6 , the active vibration suppression system based on a tool-workpiece system according to the embodiment of the present application comprises:

[0101] The arrangement module 6001 is configured to arrange acceleration sensors at the spindle end and TCP position of the machine tool respectively;

[0102] The acquisition module 6002 is configured to obtain hammer acceleration transfer functions of the spindle end and TCP point by hammer test according to the acceleration sensors when the servo feedback system is closed;

[0103] The calculation module 6003 is configured to determine gain acceleration transfer functions of the spindle end and TCP point according to the hammer acceleration transfer functions when the servo feedback system is set as constant gain;

[0104] The prediction module 6004 is configured to determine the speed signal of the feedback loop according to the gain acceleration transfer functions;

[0105] The suppression module 6005 is configured to feed back the speed signal of the feedback loop to the servo driver to realize active vibration suppression.

[0106] In the embodiment, the acceleration sensors are arranged at the spindle end and the TCP position of the machine tool respectively, firstly, the hammer acceleration transfer function of the spindle end and the TCP point is obtained by the hammer test according to the acceleration sensors when the servo feedback system is closed, then the gain acceleration transfer function of the spindle end and the TCP point is determined according to the hammer acceleration transfer function when the servo feedback system is set to constant gain, then the speed signal of the feedback loop is determined according to the gain acceleration transfer function, finally the speed signal of the feedback loop is fed back to the servo driver to realize the active vibration suppression. Compared with the prior art of placing the tuned damper in the system structure, in the actual machining process, the dynamic characteristics of the system will change with the change of the working position, thereby causing the change of the stiffness distribution in different directions, and in the spindle end-tool system of the machine tool in the embodiment, the main vibration mode of the spindle end-tool system under the influence of the cutting excitation is obtained by applying excitation to the spindle end and the TCP position and performing experimental modal analysis, the acceleration signal at the TCP position point is obtained by calculating the measured acceleration signal of the spindle end, and is fed back to the servo system as the signal fed back by the additional control loop, the feed drive of the machine tool is used to provide the active damping signal for the structure, thereby realizing the active suppression of the chatter in the machining process.

[0107] Other embodiments or specific implementations of the active vibration suppression system of the tool-workpiece system according to the present application can refer to the above-mentioned method embodiments, which will not be described here.

[0108] It should be noted that in this paper, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or system including the element.

[0109] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages and disadvantages of the embodiments.

[0110] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, also can be through hardware, but in many cases the former is the better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art contribution can be embodied in the form of software products, the computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disc), including a number of instructions to make a terminal device (may be a mobile phone, computer, server, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0111] The above is only the preferred embodiment of the present application, not therefore limit the patent scope of the present application, any equivalent structure or equivalent flow transformation made by using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method of active vibration suppression based on a tool-workpiece system, characterized by, The active vibration suppression method based on the tool-workpiece system comprises the following steps: arranging acceleration sensors at the spindle tip and TCP position of the machine tool respectively; obtaining the acceleration response signal at the spindle tip accelerometer position, the acceleration response signal at the tool tip TCP, the impact hammer force of the spindle tip, the tool tip cutting force and the feedback speed command through the force hammer test according to the acceleration sensors when the servo feedback system is closed; determining the force hammer acceleration transfer function of the spindle tip and the TCP point according to the acceleration response signal at the spindle tip accelerometer position, the acceleration response signal at the tool tip TCP, the impact hammer force of the spindle tip, the tool tip cutting force and the feedback speed command; determining the gain acceleration transfer function of the spindle tip and the TCP point according to the force hammer acceleration transfer function when the servo feedback system is set to constant gain; wherein G is a gain of the acceleration feedback signal, G is a gain of the acceleration feedback signal, G is a gain of the acceleration feedback signal, G is a gain of the acceleration feedback signal, G is a gain of the acceleration feedback signal, G is a gain of the acceleration feedback signal, determining the speed signal of the feedback loop according to the gain acceleration transfer function; wherein is the velocity signal of the feedback loop, is the acceleration signal of the tool tip point, is the velocity to tool tip point gain acceleration transfer function of the input control loop, is the impact hammer force measured at the spindle tip, is the cutting force of the tool tip;​​ feeding back the speed signal of the feedback loop to the servo driver to realize active vibration suppression.

2. The method of claim 1, wherein, The step of feeding back the speed signal of the feedback loop to the servo driver to realize active vibration suppression comprises: capturing the vibration signal of the machine tool components through the acceleration sensors based on the force hammer test; determining the main vibration modal parameters according to the vibration signal of the machine tool components; adjusting the speed signal of the feedback loop based on the main vibration modal parameters; feeding back the adjusted speed signal of the feedback loop to the servo driver to realize active vibration suppression.

3. The method of claim 1, wherein, The step of determining the main vibration modal parameters according to the vibration signal of the machine tool components comprises: decoupling the system modal through Kalman filtering algorithm according to the modal vibration mode and the vibration signal of the machine tool components to determine the modal contribution of each order; determining the main vibration modal parameters according to the modal contribution of each order.

4. An active vibration suppression system based on a tool-workpiece system, characterized by The active vibration suppression system based on the tool-workpiece system comprises: an arrangement module for arranging acceleration sensors at the spindle tip and TCP position of the machine tool respectively; an acquisition module for obtaining the force hammer acceleration transfer function of the spindle tip and the TCP point through the force hammer test according to the acceleration sensors when the servo feedback system is closed; a calculation module for determining the gain acceleration transfer function of the spindle tip and the TCP point according to the force hammer acceleration transfer function when the servo feedback system is set to constant gain; a prediction module for determining the speed signal of the feedback loop according to the gain acceleration transfer function; a suppression module for feeding back the speed signal of the feedback loop to the servo driver to realize active vibration suppression; The active vibration suppression system based on the tool-workpiece system executes to realize the steps of the active vibration suppression method based on the tool-workpiece system as claimed in any one of claims 1 to 3.

5. A storage medium, characterized by The storage medium has the active vibration suppression program based on the tool-workpiece system stored thereon, and the active vibration suppression program based on the tool-workpiece system realizes the steps of the active vibration suppression method based on the tool-workpiece system as claimed in any one of claims 1 to 3 when executed by the processor.

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