Method and system for acquiring complete machine tool frequency response function under speed correlation

Abstract

The invention belongs to the related technical field of mechanical equipment structural dynamics analysis, and discloses a method and system for obtaining a complete machine tool frequency response function under speed correlation, and the method comprises the steps: S1, carrying out the experimental modal analysis of a machine tool follow-up part based on a force hammer method, taking the hammering force as the input, taking an acceleration sensor signal on the machine tool follow-up part as the output, and carrying out the calculation of a frequency response model; acquiring a frequency response function of the machine tool follow-up part in a static state; s2, on the basis of a servo motor and an encoder at the tail end of the machine tool moving part, a motor frequency sweeping signal serves as input, angle changes fed back by the position of the encoder serve as output, and frequency sweeping testing is carried out at different running speeds of the machine tool so as to obtain frequency response functions of the machine tool moving part at different running speeds; and S3, combining the frequency-response function of the machine tool follow-up part in a static state with the frequency-response functions of the machine tool moving part at different running speeds to obtain the frequency-response functions of the whole machine tool at different speeds. According to the invention, the machine tool complete machine frequency response function in the operation state can be automatically obtained.

Description

Technical Field

[0001] The present invention belongs to the technical field related to mechanical equipment structural dynamics analysis, and more specifically, relates to a method and system for acquiring a frequency response function of a machine tool under speed correlation. Background Art

[0002] With the rapid development of manufacturing technology, mechanical equipment is developing towards intelligence, precision and integration. At the same time, there are higher requirements for high-speed machining, high-precision machining and machining reliability of machine tools. Mechanical equipment structural dynamics analysis technology is widely used in mechanical design, performance optimization, health monitoring and engineering applications. Obtaining the frequency response function of the whole machine tool and studying the dynamic characteristics of the whole machine tool during the machining process are of great significance to suppressing the vibration of the machine tool machining position during the machining process and improving the machining accuracy.

[0003] At present, the methods for obtaining the frequency response function of machine tools mainly include experimental modal analysis and operating modal analysis. Among them, the force hammer impact test method is a commonly used experimental modal analysis method, but the hammer method requires artificial excitation to the machine tool. For large machine tools, artificial excitation is difficult to excite the dynamic characteristics of the entire machine tool structure. In addition, the experimental modal analysis method is only applicable to the tapping test of the machine tool in the shutdown state. When the machine tool is in the shutdown state and the running state, the stiffness characteristics of its structural body are quite different. It is difficult to directly use the frequency response function obtained when the machine tool is in the shutdown state to characterize the structural dynamic characteristics in the running state. The operating modal analysis method usually uses environmental excitation to excite the various modes of the machine tool, but due to the lack of environmental excitation force information, the accuracy of the obtained frequency response function is not high. The follower parts of the machine tool will also vibrate as the moving parts move, and the follower parts are also accompanied by structural vibration. The existing methods are difficult to accurately characterize the dynamic characteristics of the entire machine tool under motion. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a method and system for obtaining the frequency response function of a whole machine tool under speed correlation, which aims to solve the problem that it is difficult to obtain the frequency response function of a whole machine tool under speed correlation in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, a method for obtaining a frequency response function of a machine tool under speed correlation is provided, the method comprising the following steps:

[0006] S1, experimental modal analysis of the machine tool follower components is performed based on the force hammer method, with the hammer force as input and the acceleration sensor signal on the machine tool follower components as output, to obtain the frequency response function of the machine tool follower components at rest;

[0007] S2, based on the servo motor and the end encoder of the machine tool moving part, the motor sweep frequency signal is used as input, and the angle change of the encoder position feedback is used as output. The sweep frequency test is performed at different operating speeds of the machine tool to obtain the frequency response function of the machine tool moving part at different operating speeds;

[0008] S3, combining the frequency response function of the machine tool follower at rest with the frequency response function of the machine tool moving part at different operating speeds to obtain the frequency response function of the whole machine at different speeds.

[0009] Furthermore, the frequency response function at the position P where the acceleration sensor of the machine tool follower component is located is:

[0010]

[0011] Where X(ω) is the vibration response at position P on the machine tool follower, F(ω) is the excitation input of the hammer force, and FT[·] represents the Fourier transform.

[0012] Furthermore, the maximum frequency of the frequency sweep signal is greater than twice the highest modal frequency of the moving parts of the machine tool.

[0013] Furthermore, the moving parts beam and ram are modeled as concentrated mass, and their second-order moving part equations are written as state space equations:

[0014]

[0015] Among them, z1=x2,z2=x1, x1, They are the beam displacement and moving speed, x2, are the displacement and velocity of the ram, m1 and m2 are the equivalent inertia of the beam and the ram, k and c are the overall axial stiffness and nut damping of the moving parts, b1 and b2 are the viscous damping of the beam and the viscous damping of the ram, and u is the motor torque control signal.

[0016] Furthermore, u and x are defined as input and output respectively, and the state space equation is Laplace transformed to obtain the transfer function between the motor input V and the encoder output:

[0017]

[0018] Among them G r is the transfer function of the motor input V and the displacement of the moving part:

[0019]

[0020] Where: ξ is the damping ratio, ω n is the natural frequency of the moving part, αr is the system inertia related term, α r =2ξ r ω nr , β r is the damping related term, β r =(ω nr ) 2 ,r g is the transmission ratio of the moving parts, K T is the motor torque constant, J is the moment of inertia of the rigid body model of the moving part, and B is the damping coefficient of the rigid body model of the moving part.

[0021] Furthermore, the transfer function G between the motor input V and the encoder output is ux Further transformation gives the frequency response function G(ω) of the motor input V and the encoder output:

[0022]

[0023] Furthermore, the frequency response function of the machine tool position P under speed association is:

[0024] H(ω)=Y(ω)·G(ω)

[0025] Among them, Y(ω) is the frequency response function of the machine tool follower component in a stationary state; G(ω) represents the frequency response function of the machine tool moving component under speed association.

[0026] Furthermore, the sampling frequency of the hammer signal is greater than twice the highest modal frequency of the machine tool follower component.

[0027] The present invention also provides a system for acquiring the frequency response function of a whole machine tool under speed correlation, the system comprising a memory and a processor, the memory storing a computer program, and the processor executing the method for acquiring the frequency response function of a whole machine tool under speed correlation as described above when executing the computer program.

[0028] The present invention also provides a computer-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the method for obtaining the frequency response function of the entire machine tool under speed correlation as described above.

[0029] In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0030] 1. The present invention firstly uses a force hammer to strike the follower component of the machine tool in a static state to obtain its frequency response function, further controls the machine tool to send a sweep frequency signal at different operating speeds, and obtains the frequency response function of the moving component at different speeds according to the angle change fed back by the encoder. The two are combined to obtain the frequency response function of the whole machine under speed correlation; therefore, the method proposed by the present invention can automatically obtain the frequency response function of the whole machine in the running state, and can monitor the dynamic characteristics of the whole machine in real time with high accuracy.

[0031] 2. The present invention can monitor the dynamic response characteristics of the machine tool by acquiring the frequency response function of the whole machine tool in real time when the machine tool is in operation. Compared with the existing hammer test method for acquiring the structural characteristics of the machine tool, it can reflect the dynamic characteristics of the whole machine under the actual operating conditions of the machine tool, and through real-time monitoring, it can timely discover the dynamic factors that may affect the processing accuracy and stability.

[0032] 3. The present invention combines the force hammer tapping method and the sweep frequency test during machine tool operation. Based on the static frequency response function obtained by the force hammer tapping, the sweep frequency test provides dynamic correction and can accurately obtain the dynamic characteristics of the whole machine at different speeds. The two test methods complement each other, improve the accuracy of measuring the complex dynamic system of the machine tool, reduce environmental interference and measurement errors, and save the economic and time costs of obtaining the dynamic characteristics of the whole machine tool.

[0033] 4. By controlling the machine tool to send out sweep frequency signals at different operating speeds, the frequency response functions of the machine tool's moving parts at various speeds can be obtained. The system can comprehensively evaluate the dynamic characteristics of the entire machine tool under various working conditions, not just static or single speed conditions. The combination of the frequency response functions of the entire machine tool at different speeds can provide a more complete description of the dynamic characteristics of the entire machine tool during actual processing, which helps to improve the adaptability and stability of the system.

[0034] 5. The present invention can identify and diagnose potential problems of the entire machine tool in advance, such as resonance, abnormal vibration or fatigue damage, by acquiring and analyzing the frequency response function in real time. The real-time monitoring of the equipment by the present invention can also help optimize the process parameters, thereby improving the overall performance and processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flow chart of a method for obtaining a frequency response function of a machine tool under speed correlation provided by Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the simplified model disassembly of a machine tool provided in Example 1 of the present invention;

[0037] Figure 3 It is a schematic diagram of the rigid body dynamics model of the moving parts of a machine tool provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] The present invention provides a method for obtaining the frequency response function of a whole machine tool under speed correlation, wherein a hammer is used to strike a follower component of a machine tool in a stationary state to obtain its frequency response function, and the machine tool is further controlled to send a sweep frequency signal at different operating speeds, and the frequency response function of the moving component at different speeds is obtained by the angle change fed back by the encoder, and the two are combined to obtain the frequency response function of the whole machine tool under speed correlation. The method proposed by the present invention can automatically obtain the frequency response function of the whole machine tool in operation without external human intervention, and can monitor the dynamic characteristics of the whole machine tool in real time with high accuracy.

[0040] The acquisition method mainly comprises the following steps:

[0041] S1, based on the force hammer method, the experimental modal analysis of the machine tool follower is carried out, the hammer force is used as the input, and the acceleration sensor signal on the machine tool follower is used as the output to obtain the frequency response function of the machine tool follower when it is stationary.

[0042] The frequency response function of the acceleration sensor at the position P where the machine tool follower is arranged is:

[0043]

[0044] Where X(ω) is the vibration response at position P on the machine tool follower, F(ω) is the excitation input of the hammer force, and FT[·] represents the Fourier transform.

[0045] Among them, the force hammer method is used for experimental modal analysis test, and the acceleration sensors are evenly distributed on the surface of the machine tool follower parts. The number of acceleration sensors should be as large as possible to characterize the complex structural vibration of the machine tool follower parts.

[0046] S2, based on the servo motor and the end encoder of the machine tool moving part, takes the motor sweep frequency signal as input and the angle change of the encoder position feedback as output. The sweep frequency test is performed at different operating speeds of the machine tool to obtain the frequency response function of the machine tool moving part at different operating speeds.

[0047] The maximum frequency of the sweep signal is greater than twice the highest modal frequency of the moving parts of the machine tool, and the sampling frequency of the hammer signal is greater than twice the highest modal frequency of the following parts of the machine tool.

[0048] In order to obtain the accurate frequency response function of the moving parts of the machine tool during operation, the servo motor is used to send a sweep frequency signal, and the encoder obtains the angle change at the end of the moving part, thereby obtaining the accurate frequency response function of the moving parts of the machine tool.

[0049] Specifically, the dynamic characteristics of the moving parts are first analyzed, and the influence of the machine tool follower parts on the moving parts and the interference caused by environmental factors are ignored. The moving parts beam and slide are modeled with concentrated mass, and the second-order moving part equation is written as a state space equation as follows:

[0050]

[0051] Among them, z1=x2,z2=x1, x1, They are the beam displacement and moving speed, x2, are the displacement and velocity of the ram, m1 and m2 are the equivalent inertia of the beam and the ram, k and c are the overall axial stiffness and nut damping of the moving parts, b1 and b2 are the viscous damping of the beam and the viscous damping of the ram, and u is the motor torque control signal.

[0052] Define u and x as input and output respectively, perform Laplace transform on the state space equation, and then get the transfer function between the motor input V and the encoder output as:

[0053]

[0054] Among them G r is the transfer function of the motor input V and the displacement of the moving part:

[0055]

[0056] Where:

[0057] where ξ is the damping ratio, ω n is the natural frequency of the moving part, α r is the system inertia related term, α r =2ξ r ω nr , β r is the damping related term, β r =(ω nr ) 2 ,r g is the transmission ratio of the moving parts, K T is the motor torque constant, J is the moment of inertia of the rigid body model of the moving part, and B is the damping coefficient of the rigid body model of the moving part.

[0058] The transfer function G between the motor input V and the encoder output uxFurther transformation (s=jw) can obtain the frequency response function G(ω) of the motor input V and the encoder output:

[0059]

[0060] S3, combining the frequency response function of the machine tool follower at rest with the frequency response function of the machine tool moving part at different operating speeds to obtain the frequency response function of the whole machine at different speeds.

[0061] The frequency response function at the position P of the machine tool under speed association is:

[0062] H(ω)=Y(ω)·G(ω)

[0063] Among them, Y(ω) is the frequency response function of the machine tool follower component in a stationary state; G(ω) represents the frequency response function of the machine tool moving component under speed association.

[0064] The present invention also provides a system for acquiring the frequency response function of a whole machine tool under speed correlation, the system comprising a memory and a processor, the memory storing a computer program, and the processor executing the method for acquiring the frequency response function of a whole machine tool under speed correlation as described above when executing the computer program.

[0065] The present invention also provides a computer-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the method for obtaining the frequency response function of the entire machine tool under speed correlation as described above.

[0066] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0067] Example 1

[0068] Embodiment 1 of the present invention provides a method for obtaining a frequency response function associated with the speed of a machine tool, such as Figure 1 As shown, including:

[0069] S1. Based on the experimental modal analysis force hammer method, the frequency response function of the machine tool follower component is obtained. The hammer force is used as input, and the collected acceleration sensor signal is used as output to obtain the frequency response function of the machine tool follower component.

[0070] Specifically, Figure 2As shown in the figure, the whole machine model of the machine tool can be divided into follower parts and moving parts according to the main processing direction. The follower parts include the tool holder and the spindle, and the moving parts include the crossbeam and the ram. The acceleration sensors required for the experimental modal analysis test are evenly arranged on the follower parts of the machine tool to be tested, and the machine tool follower parts are modeled with concentrated mass. Each sensor position is regarded as a degree of freedom, and the machine tool follower parts are divided into multi-degree-of-freedom systems to characterize their rich structural modal information. The force hammer is used for excitation, and the vibration signal at each sensor position on the machine tool is collected through the acceleration sensor. The vibration signal is modally analyzed to obtain the vibration response at each sensor position on the follower part of the machine tool. Then, the modal parameters of the follower parts are identified by the modal identification algorithm to obtain the highest frequency of the structural mode of the follower parts.

[0071] In this embodiment, the sampling frequency of the hammer signal is greater than twice the highest modal frequency of the machine tool follower component; the acceleration sensors are evenly distributed on the surface of the machine tool follower component, and the number of acceleration sensors should be as large as possible to characterize the complex structural modal information of the machine tool follower component.

[0072] Specifically, the frequency response function at the position P where the acceleration sensor is located on the moving part of the machine tool is:

[0073]

[0074] Where X(ω) is the vibration response at position P on the follower component of the machine tool, F(ω) is the excitation input of the hammer force, FT[·] represents Fourier transform, and X(ω) and F(ω) can be obtained through the experimental modal analysis information acquisition system.

[0075] S2. Use the servo motor sweep frequency signal as input and the angle change of the position feedback of the end encoder of the machine tool moving part as output to obtain the frequency response function of the moving part at different speeds.

[0076] In order to obtain the accurate frequency response function of the moving parts of the machine tool during operation, the servo motor is used to send a sweep frequency signal, and the encoder obtains the angle change at the end of the moving part, thereby obtaining the accurate frequency response function of the moving parts of the machine tool.

[0077] Specifically, the dynamic characteristics of the moving parts are first analyzed, and the influence of the machine tool follower parts on the moving parts and the interference caused by environmental factors are ignored. The beam and slide of the moving parts are modeled with concentrated mass, and the second-order moving part equation is written as a state space equation as follows:

[0078]

[0079] Among them, z1=x2,z2=x1, x1, is the beam displacement and moving speed, x2, are the displacement and velocity of the ram, m1 and m2 are the equivalent inertia of the crossbeam and the ram, k and c are the overall axial stiffness of the moving parts and the nut damping, b1 and b2 are the viscous damping of the tool holder and the viscous damping of the ram, and u is the motor torque control signal.

[0080] Furthermore, if Figure 3 As shown, u and x are defined as input and output, and the above state space equation is Laplace transformed to obtain the transfer function between the motor input V and the encoder output:

[0081]

[0082] Among them G r is the transfer function of the motor input V and the displacement of the moving part:

[0083]

[0084] Where:

[0085] where ξ is the damping ratio, ω n is the natural frequency of the moving part, α r is the system inertia related term, α r =2ξ r ω nr , β r is the damping related term, β r =(ω nr ) 2 ,r g is the transmission ratio of the moving parts, K T is the motor torque constant, J is the moment of inertia of the rigid body model of the moving part, and B is the damping coefficient of the rigid body model of the moving part.

[0086] The transfer function G between the motor input V and the encoder output ux Further transformation (s=jw) can obtain the frequency response function G(ω) of the motor input V and the encoder output:

[0087]

[0088] Therefore, the frequency response function of the moving parts of the machine tool can be obtained by the frequency sweep emitted by the servo motor and the angle change of the position feedback of the encoder at the end of the moving parts of the machine tool.

[0089] S3. Combining the obtained frequency response functions of the machine tool follower component and the moving component to obtain the frequency response function of the whole machine tool at different speeds.

[0090] Specifically, Figure 2The moving parts of the machine tool are installed on the following parts of the machine tool. The frequency response functions of the following parts of the machine tool are combined with the moving parts to obtain the frequency response functions of the whole machine tool at different operating speeds.

[0091] Specifically, the frequency response function at the position P of the machine tool under speed association is:

[0092] H(ω)=Y(ω)·G(ω)

[0093] Among them, Y(ω) is the frequency response function of the machine tool follower component in a stationary state; G(ω) represents the frequency response function of the machine tool moving component under speed association.

[0094] In the present invention, when it is necessary to obtain the frequency response function of the whole machine tool under speed correlation, the method proposed by the present invention is adopted, firstly, a force hammer is used to strike the follower component of the machine tool in a stationary state to obtain its frequency response function, and then the machine tool is controlled to send a sweep frequency signal at different operating speeds, and the frequency response function of the moving component at different speeds is obtained by the angle change fed back by the encoder, and the two are combined to obtain the frequency response function of the follower component of the machine tool under speed correlation. By adopting the method proposed by the present invention, the frequency response function of the whole machine tool in the running state can be automatically obtained, and the dynamic characteristics of the whole machine tool can be monitored in real time with high accuracy.

[0095] Furthermore, the method for obtaining the frequency response function associated with the speed of the whole machine provided by the present invention can obtain the frequency response function of the moving parts of the machine tool at various speeds by controlling the machine tool to send a sweep frequency signal at different operating speeds. The system can comprehensively evaluate the dynamic characteristics of the whole machine under various working conditions, not limited to static or single speed conditions. The frequency response functions of the whole machine at different speeds can be combined to provide a more complete description of the dynamic characteristics of the whole machine during the actual processing process, which helps to improve the adaptability and stability of the system.

[0096] Furthermore, the method for obtaining the frequency response function associated with the speed of the whole machine provided by the present invention can identify and diagnose potential problems of the whole machine in advance, such as resonance, abnormal vibration or fatigue damage, by acquiring and analyzing the frequency response function in real time. The real-time monitoring of the equipment by the present invention can also help optimize the process parameters, thereby improving the overall performance and processing efficiency.

[0097] Example 2

[0098] Embodiment 2 of the present invention provides a system for acquiring a frequency response function associated with the speed of a whole machine tool, comprising: a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for acquiring a frequency response function associated with the speed of a whole machine tool as described above is executed.

[0099] Example 3

[0100] The present invention also provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is executed by a processor, the device where the storage medium is located is controlled to execute the method for obtaining a frequency response function associated with the speed of a machine tool as described above.

[0101] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for obtaining a frequency response function of a machine tool under speed correlation, characterized in that: The method comprises the following steps: S1, experimental modal analysis of the machine tool follower components is performed based on the force hammer method, with the hammer force as input and the acceleration sensor signal on the machine tool follower components as output, to obtain the frequency response function of the machine tool follower components at rest; S2, based on the servo motor and the end encoder of the machine tool moving part, the motor sweep frequency signal is used as input, and the angle change of the encoder position feedback is used as output. The sweep frequency test is performed at different operating speeds of the machine tool to obtain the frequency response function of the machine tool moving part at different operating speeds; S3, combining the frequency response function of the machine tool follower at rest with the frequency response function of the machine tool moving part at different operating speeds to obtain the frequency response function of the whole machine at different speeds.

2. The method for obtaining the frequency response function of a machine tool under speed correlation as claimed in claim 1, characterized in that: The frequency response function of the acceleration sensor at the position P where the machine tool follower is arranged is: Where X(ω) is the vibration response at position P on the machine tool follower, F(ω) is the excitation input of the hammer force, and FT[·] represents the Fourier transform.

3. The method for obtaining the frequency response function of a machine tool under speed correlation as claimed in claim 1, characterized in that: The maximum frequency of the sweep signal is greater than twice the highest modal frequency of the moving parts of the machine tool.

4. The method for obtaining the frequency response function of a machine tool under speed correlation as claimed in claim 1, characterized in that: The moving parts beam and ram are modeled as concentrated masses, and their second-order moving part equations are written as state space equations: Among them, z1=x2,z2=x1, x1, They are the beam displacement and moving speed, x2, are the displacement and velocity of the ram, m1 and m2 are the equivalent inertia of the beam and the ram, k and c are the overall axial stiffness and nut damping of the moving parts, b1 and b2 are the viscous damping of the beam and the viscous damping of the ram, and u is the motor torque control signal.

5. The method for obtaining the frequency response function of a machine tool under speed correlation as claimed in claim 4, characterized in that: Define u and x as input and output respectively, perform Laplace transform on the state space equation, and then get the transfer function between the motor input V and the encoder output as: Among them G r is the transfer function of the motor input V and the displacement of the moving part: Where: ξ is the damping ratio, ω n is the natural frequency of the moving part, α r is the system inertia related term, α r =2ξ r ω nr , β r is the damping related term, β r =(ω nr ) 2 ,r g is the transmission ratio of the moving parts, K T is the motor torque constant, J is the moment of inertia of the rigid body model of the moving part, and B is the damping coefficient of the rigid body model of the moving part.

6. The method for obtaining the frequency response function of a machine tool under speed correlation as claimed in claim 5, characterized in that: The transfer function G between the motor input V and the encoder output ux Further transformation gives the frequency response function G(ω) of the motor input V and the encoder output:

7. The method for obtaining the frequency response function of a machine tool under speed correlation according to any one of claims 1 to 6, characterized in that: The frequency response function at the position P of the machine tool under speed association is: H(ω)=Y(ω)·G(ω) Among them, Y(ω) is the frequency response function of the machine tool follower component in a stationary state; G(ω) represents the frequency response function of the machine tool moving component under speed association.

8. The method for obtaining the frequency response function of a machine tool under speed correlation according to any one of claims 1 to 6, characterized in that: The sampling frequency of the hammer signal is greater than twice the highest modal frequency of the machine tool follower component.

9. A system for acquiring the frequency response function of a machine tool under speed correlation, characterized in that: The system includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for obtaining the frequency response function of a whole machine tool under speed correlation according to any one of claims 1 to 8 is executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor, the machine-executable instructions prompt the processor to implement the method for obtaining the frequency response function of a whole machine tool under speed correlation as described in any one of claims 1 to 8.

Images