A precision control method, system, device and medium for intelligent numerical control machine tools

Abstract

A precision control method, system, device and medium for an intelligent CNC machine tool, relating to the field of CNC machine tool control technology. The method comprises: obtaining the first position information and first speed information of the spindle in the CNC machine tool, and the second position information and second speed information of multiple feed axes; determining the position coordination error value according to the first position information and the second position information; calculating the speed coordination error value and the acceleration coordination error value based on the first speed information and each second speed information; performing error analysis processing on the position coordination error value, the speed coordination error value and the acceleration coordination error value, and determining the feed axis to be compensated whose coordination degree with the spindle is less than the coordination degree threshold; receiving the cutting load parameter of the feed axis to be compensated, and performing dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameter, until the coordination degree is greater than or equal to the coordination degree threshold. The implementation of the technical solution provided in the present application achieves the effect of improving the precision control efficiency of the CNC machine tool.

Description

Technical Field

[0001] The present application relates to the technical field of CNC machine tool control, and in particular to a precision control method, system, device and medium for an intelligent CNC machine tool. Background Art

[0002] As the global manufacturing industry's demand for high-precision and high-efficiency production increases, CNC machine tools have become a key technology to achieve these goals. These machine tools use advanced automated control systems to precisely control the relative motion between the tool and the workpiece to produce parts from simple to complex.

[0003] At present, the precision control method of CNC machine tools mainly relies on pre-set parameters to guide the movement of the spindle and feed axis of the CNC machine tools to ensure the accuracy of the processing process. However, since the CNC machine tools will gradually deviate due to the influence of various factors during the processing, this control based on static pre-set parameters is difficult to dynamically adjust the CNC machine tools in real time. As the deviation accumulates, it often causes incoordination between the spindle and the feed axis, thereby reducing the precision control efficiency of the CNC machine tools. Summary of the invention

[0004] The present application provides a precision control method, system, electronic device and storage medium for an intelligent CNC machine tool, which can improve the precision control efficiency of the CNC machine tool.

[0005] In a first aspect, the present application provides a precision control method for an intelligent CNC machine tool, comprising:

[0006] Acquire first position information and first speed information of a spindle in a numerically controlled machine tool, and second position information and second speed information of a plurality of feed axes;

[0007] Determine a position coordination error value between the main shaft and each of the feed shafts according to the first position information and each of the second position information;

[0008] Based on the first speed information and each of the second speed information, a speed coordination error value and an acceleration coordination error value between the main shaft and each of the feed shafts are calculated;

[0009] Performing error analysis on the position coordination error value, speed coordination error value and acceleration coordination error value between the main shaft and each of the feed shafts to obtain a feed shaft to be compensated whose coordination degree with the main shaft is less than a coordination degree threshold;

[0010] The cutting load parameter of the feed axis to be compensated is received, and dynamic error compensation is performed on the feed axis to be compensated in combination with the cutting load parameter until the coordination degree is greater than or equal to the coordination degree threshold.

[0011] In a second aspect of the present application, a precision control system for an intelligent numerically controlled machine tool is provided, the system comprising:

[0012] An information acquisition module, used to acquire first position information and first speed information of a spindle in a CNC machine tool, and second position information and second speed information of a plurality of feed axes;

[0013] an error value calculation module, used to determine the position coordination error value between the main shaft and each of the feed shafts according to the first position information and each of the second position information; and calculate the speed coordination error value and the acceleration coordination error value between the main shaft and each of the feed shafts based on the first speed information and each of the second speed information;

[0014] A module for determining a feed axis to be compensated, used for performing error analysis on a position coordination error value, a speed coordination error value and an acceleration coordination error value between the spindle and each of the feed axes, and obtaining a feed axis to be compensated whose coordination degree with the spindle is less than a coordination degree threshold;

[0015] The error compensation module is used to receive the cutting load parameters of the feed axis to be compensated, and perform dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameters until the coordination degree is greater than or equal to the coordination degree threshold.

[0016] In a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program can implement a precision control method for an intelligent CNC machine tool when loaded and executed by the processor.

[0017] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements a precision control method for an intelligent CNC machine tool.

[0018] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0019] By adopting the above technical scheme, the position and speed information of the spindle and the feed axis are collected, and a multi-dimensional motion coordination evaluation system is established. First, the position coordination error value between the spindle and each feed axis is calculated based on the position information, which reflects the spatial position matching relationship of each axis; then the speed coordination error value and the acceleration coordination error value are derived using the speed information, which reflects the dynamic matching characteristics during the motion process. By systematically analyzing and processing these three types of error values, a comprehensive evaluation index based on coordination degree is constructed, which can comprehensively reflect the motion coordination between the feed axis and the spindle. This multi-dimensional error analysis method not only considers the static position accuracy, but also includes dynamic motion characteristics, which improves the accuracy and reliability of error identification. On this basis, according to the comparison result between the coordination degree and the preset threshold, the feed axis that needs to be compensated is accurately identified, which avoids unnecessary compensation calculation and improves the system operation efficiency. By introducing the cutting load parameter for dynamic error compensation, this method realizes the adaptive matching of compensation control and actual processing load, and can adjust the compensation strategy in time according to the load change. This closed-loop compensation mechanism continuously adjusts the compensation parameters until the coordination degree meets the requirements, ensuring the continuous and stable compensation effect. The precision of CNC machine tools is controlled by combining multi-dimensional error analysis and cutting load adaptive compensation, which avoids the incoordination caused by error accumulation during long-term operation of CNC machine tools, thereby improving the precision control efficiency of CNC machine tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of a precision control method of an intelligent CNC machine tool provided in an embodiment of the present application;

[0021] Figure 2 It is a structural schematic diagram of a precision control system of an intelligent CNC machine tool provided in an embodiment of the present application;

[0022] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0023] Description of reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0024] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0025] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0026] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0027] The present application embodiment provides a precision control method for an intelligent CNC machine tool. In one embodiment, please refer to Figure 1 , Figure 1 This is a flow chart of the precision control method of the intelligent CNC machine tool provided in the embodiment of the present application. The method can be implemented by a computer program, which can be integrated in an application or run as an independent tool application. The method can also be implemented by a single-chip microcomputer or run in a precision control system of an intelligent CNC machine tool based on the von Neumann system. Specifically, the method can include the following steps:

[0028] Step 101: Acquire first position information and first speed information of a spindle in a CNC machine tool, and second position information and second speed information of a plurality of feed axes.

[0029] The spindle is the core executive component of the CNC machine tool that carries and drives the tool or workpiece to rotate. The spindle is usually composed of a spindle box, bearings, a spindle motor, and a transmission mechanism. The spindle box provides a stable support structure, the high-precision bearings ensure the rotation accuracy of the spindle, the spindle motor provides rotational power, and the transmission mechanism achieves accurate power transmission.

[0030] The feed axis refers to the transmission actuator component that realizes the linear motion of the workpiece or tool in the CNC machine tool. The feed axis is usually composed of a servo motor, a lead screw nut pair, a linear guide, a driver and a position detection device. The servo motor provides the driving force, the lead screw nut pair converts the rotational motion into linear motion, the linear guide ensures the smoothness and accuracy of the motion, the driver is responsible for precise control, and the position detection device provides real-time feedback of the motion status.

[0031] The first position information refers to a data set that reflects the instantaneous spatial position state of the CNC machine tool spindle. The first position information mainly includes the angular position information of the spindle, which is collected by a high-precision angle encoder installed on the spindle and can accurately reflect the instantaneous angular displacement of the spindle during rotation.

[0032] The first speed information refers to the speed characteristic parameter set that characterizes the motion state of the CNC machine tool spindle. The first speed information includes two important parameters: spindle speed and spindle angular acceleration. The spindle speed is acquired in real time through the speed sensor, reflecting the instantaneous rotation speed of the spindle; the spindle angular acceleration is obtained by performing differential calculations on the speed data, characterizing the rate of change of the spindle speed.

[0033] The second position information refers to a set of spatial coordinate data that reflects the instantaneous linear position state of each feed axis of a CNC machine tool. The second position information includes the linear displacement data of multiple feed axes such as the X-axis, Y-axis, and Z-axis. These data are collected in real time by high-precision linear grating rulers installed on each feed axis, and can accurately reflect the instantaneous position of each feed axis during movement.

[0034] The second speed information refers to the speed characteristic parameter set that characterizes the motion state of each feed axis of the CNC machine tool. The second speed information includes the instantaneous feed speed and feed acceleration data of each feed axis, where the feed speed is acquired in real time through the speed sensor on each axis, reflecting the instantaneous linear motion speed of each feed axis; the feed acceleration is obtained by performing differential operation on the speed data, characterizing the rate of change of the speed of each feed axis.

[0035] Specifically, the angular position information of the spindle is obtained in real time by the angle encoder installed at the spindle, and the speed sensor is used to collect the speed and angular acceleration data of the spindle. These data together constitute the first position information and the first speed information reflecting the motion state of the spindle. For the feed system, the linear position data of multiple feed axes such as the X-axis, Y-axis and Z-axis are collected respectively by the linear grating ruler, and the feed speed and feed acceleration information of each feed axis are obtained by the speed sensor. These data constitute the second position information and the second speed information characterizing the feed motion characteristics. The purpose of collecting these motion parameters is to fully grasp the relative motion relationship between the spindle and the feed axis during the machining process of the CNC machine tool, and to provide basic data support for the subsequent analysis of the coordination between the various motion axes. Through the real-time acquisition of high-precision sensors, it can be ensured that the acquired position and speed information have high accuracy, and the sampling frequency is usually set to more than 1000 times per second to ensure the continuity and timeliness of the data. This method based on multi-sensor collaborative acquisition can not only realize the real-time monitoring of the motion state of each moving part of the machine tool, but also provide a reliable data basis for subsequent error analysis and dynamic compensation, effectively improving the precision control capability of the CNC machine tool. By building such a real-time data acquisition system, the motion deviation between the spindle and the feed axis can be discovered in time, laying the foundation for achieving high-precision machining.

[0036] Step 102: Determine the position coordination error value between the main shaft and each feed axis according to the first position information and each second position information.

[0037] Among them, the position coordination error value refers to a quantitative indicator that reflects the deviation of the actual motion position between the CNC machine tool spindle and each feed axis from the theoretical position.

[0038] Specifically, since the relative motion relationship between the spindle and the feed axis of the CNC machine tool directly affects the machining accuracy during the machining process, it is necessary to accurately evaluate its motion coordination. The first position information of the spindle and the second position information of each feed axis are uniformly mapped and analyzed by establishing a spherical coordinate system in real-time calculation. In the specific implementation, the angular position information of the spindle is first converted into the azimuth parameter in the spherical coordinate system, and the linear position information of the X-axis, Y-axis and Z-axis is converted into the radial distance and zenith angle parameters in the spherical coordinate system. On this basis, according to the preset theoretical machining trajectory equation, the theoretical position coordinates that the spindle and each feed axis should reach at the current moment are calculated. By comparing the difference between the actual position coordinates and the theoretical position coordinates, the radial position coordination error value and the axial position coordination error value are obtained respectively. Among them, the radial position coordination error value reflects the position deviation of the spindle and the feed axis in the plane perpendicular to the axial direction of the helix, and the axial position coordination error value represents the position deviation along the axial direction of the helix. This error analysis method based on the spherical coordinate system can intuitively reflect the spatial position relationship between the spindle and the feed axis, which is convenient for subsequent targeted compensation. By calculating and updating the position coordination error value in real time, the system can dynamically grasp the coordination status between each motion axis and provide accurate error data support for subsequent precision control, thereby effectively improving the processing accuracy.

[0039] Based on the above embodiment, as an optional embodiment, in step 102: determining the position coordination error value between the main shaft and each feed shaft according to the first position information and each second position information, this step may also include the following steps:

[0040] Step 201: Map the angle position to the space coordinate system corresponding to the helix processed in the CNC machine tool to obtain the first position coordinate corresponding to the main axis.

[0041] The first position coordinate refers to three-dimensional position data in a spatial rectangular coordinate system obtained by converting the angular position mapping of the main axis.

[0042] Specifically, since the angular position information of the spindle is expressed in the form of an angle value, and the position information of the feed axis is expressed in the spatial position under a rectangular coordinate system, in order to uniformly evaluate the position coordination relationship between the spindle and the feed axis, it is necessary to convert the angular position of the spindle into the spatial coordinate system where the processing helix is ​​located. The present invention adopts a spherical coordinate system mapping method, firstly obtaining the angular position information of the spindle, and the angular position is given in the form of radians or angle values ​​by an angle encoder. Then, based on the parametric equation of the helix, the angular position of the spindle is substituted into the equation as a parameter, and the coordinate value corresponding to the spindle in the spatial rectangular coordinate system, i.e., the first position coordinate, is calculated through the conversion relationship of the spherical coordinate system. For example, if the radius of the helix is ​​R, the pitch is P, and the angular position of the spindle is θ, the position coordinates (x, y, z) of the spindle in the spatial rectangular coordinate system can be calculated by the formula x=R×cos(θ), y=R×sin(θ), z=P×θ / (2π). This coordinate conversion method not only realizes the accurate mapping of the angular position to the spatial position, but also maintains the inherent geometric characteristics of the helix. By mapping the angular position of the spindle into spatial coordinates, a unified data basis is provided for the subsequent comparative analysis with the feed axis position, which helps to accurately calculate the position coordination error value, thereby improving the accuracy of machining precision control.

[0043] Step 202: Determine the second position coordinates of each feed axis in the space coordinate system corresponding to the machining spiral line according to the linear position of each feed axis.

[0044] The second position coordinate refers to the three-dimensional position data of the linear position of each feed axis in the machining helix space coordinate system after coordinate transformation.

[0045] Specifically, in order to accurately evaluate the degree of conformity between the actual motion position of the feed axis and the theoretical spiral trajectory, it is necessary to unify the linear position information of each feed axis into the spatial coordinate system where the processing spiral is located. The present invention adopts a rectangular coordinate system conversion method. First, the linear position data of each feed axis of the X-axis, Y-axis and Z-axis are obtained by a linear grating ruler. These data respectively represent the linear displacement of each feed axis in its motion direction. Then, considering the possible offset and rotation relationship between the machine tool coordinate system and the processing spiral coordinate system, it is necessary to establish a coordinate transformation matrix to convert the position data in the machine tool coordinate system into the spiral coordinate system. Specifically, assuming that the position values ​​of the X-axis, Y-axis and Z-axis in the machine tool coordinate system are px, py and pz respectively, the corresponding second position coordinates in the spiral coordinate system can be obtained by coordinate transformation. The translation of the coordinate origin and the rotation angle of the coordinate axis need to be considered during the transformation process, and the final spatial position coordinates are obtained by matrix operation. This coordinate transformation method not only realizes the accurate mapping of the feed axis position to the spiral coordinate system, but also ensures the correct correspondence between each coordinate component. By converting the linear position of each feed axis into the second position coordinate in a unified coordinate system, comparable spatial position data is provided for subsequent comparative analysis with the spindle position, which helps to accurately calculate the position coordination error value, thereby improving the effect of machining precision control.

[0046] Step 203: Calculate the radial position offset and the axial position offset between the first position coordinate and each second position coordinate; use each radial position offset and each corresponding axial position offset as the position coordination error value between the main shaft and each feed shaft.

[0047] Specifically, in order to accurately quantify the motion coordination between the main shaft and each feed shaft, it is necessary to calculate the position deviation in the radial and axial directions respectively. The present invention adopts a vector decomposition method, first decomposing the spatial position difference between the first position coordinate and each second position coordinate into a radial component and an axial component. When calculating the radial position offset, it is necessary to project the first position coordinate and the second position coordinate into a plane perpendicular to the axial direction of the helix, and then calculate the straight-line distance between the two projection points. This distance is the radial position offset, which reflects the position deviation of the main shaft and the feed shaft in the cross section of the helix. When calculating the axial position offset, the absolute value of the position difference between the first position coordinate and the second position coordinate in the axial direction of the helix is ​​directly calculated. This difference is the axial position offset, which reflects the position deviation of the main shaft and the feed shaft in the axial direction of the helix. This calculation method based on vector decomposition can reflect the radial and axial motion coordination errors respectively, while maintaining the physical meaning of the error calculation. By using the calculated radial position offset and axial position offset as position coordination error values, the system can independently compensate for motion deviations in different directions, thereby improving the accuracy and effectiveness of compensation and ultimately achieving high-precision spiral processing control.

[0048] Step 103: Based on the first speed information and each second speed information, a speed coordination error value and an acceleration coordination error value between the main shaft and each feed shaft are calculated.

[0049] Among them, the speed coordination error value refers to a quantitative indicator that reflects the deviation of the actual movement speed between the spindle and each feed axis of the CNC machine tool from the theoretical speed.

[0050] The acceleration coordination error value refers to a quantitative indicator that reflects the deviation of the actual motion acceleration between the spindle and each feed axis of the CNC machine tool from the theoretical acceleration.

[0051] Specifically, since the speed coordination and acceleration response characteristics between the spindle and the feed axis directly affect the dynamic accuracy of the machining process, it is necessary to evaluate the matching relationship of their motion speeds in real time. Using the dynamic analysis method, the first speed information of the spindle is first converted into the theoretical feed speed and feed acceleration. Based on the geometric characteristics of the helix, the theoretical speed components and acceleration components that each feed axis should have in the radial and axial directions are calculated according to the speed and acceleration of the spindle. Then, the calculated theoretical values ​​are compared with the actual speed values ​​and acceleration values ​​in the second speed information of each feed axis. In the speed coordination analysis, the radial speed error value and the axial speed error value are calculated respectively. These two error values ​​together constitute the speed coordination error value, which is used to characterize the speed matching degree between the spindle and the feed axis. In the acceleration coordination analysis, the radial acceleration error value and the axial acceleration error value are also calculated. These two error values ​​together constitute the acceleration coordination error value, which is used to characterize the dynamic response consistency between the spindle and the feed axis. This coordination analysis method based on speed and acceleration can fully reflect the dynamic motion characteristics between the spindle and the feed axis. It can not only evaluate the synchronization of motion, but also predict possible advance or lag phenomena. By calculating and updating the speed coordination error value and acceleration coordination error value in real time, the system can dynamically grasp the coordination status between the motion axes, provide accurate error data support for speed and acceleration compensation control, and effectively improve the dynamic accuracy of machining.

[0052] Based on the above embodiment, as an optional embodiment, in step 103: based on the first speed information and each second speed information, the speed coordination error value between the main shaft and each feed shaft is calculated. This step may also include the following steps:

[0053] Step 301: Determine a target feed speed according to the spindle speed and the preset feed amount; and calculate the speed difference between the target feed speed and each feed speed.

[0054] The preset feed refers to the theoretical displacement of the feed axis corresponding to one revolution of the spindle when the CNC machine tool processes the spiral. The preset feed is a process parameter that defines the reference value of the feed per revolution during the processing process. This parameter directly determines the pitch of the processed spiral.

[0055] The target feed rate refers to the ideal feed motion speed value calculated based on the actual spindle speed and the preset feed amount during the helical processing.

[0056] Specifically, in order to ensure that the matching relationship between the spindle speed and the feed speed during the processing meets the processing requirements, it is necessary to determine the theoretical feed speed that should be achieved based on the actual spindle speed. First, the real-time spindle speed information is obtained, and the feed amount per revolution pre-set in the process parameters is combined to calculate the target feed speed that should be achieved at the current spindle speed by multiplying the two. This target feed speed represents the linear speed value that the feed motion should have under ideal conditions, and it is an important reference benchmark to ensure processing efficiency and processing quality. Then, the calculated target feed speed is compared with the actual feed speed of each feed axis, and the speed difference is obtained by calculating the difference between the target feed speed and the actual feed speed. This speed difference reflects the deviation of the feed motion from the ideal state, which includes the difference in speed components in the radial and axial directions. This analysis method based on the target feed speed can not only accurately evaluate the speed matching state of the feed motion, but also provide an accurate adjustment basis for subsequent speed compensation. By calculating and updating the speed difference in real time, the system can dynamically grasp the speed deviation of the feed motion, laying the foundation for precise speed coordination control, thereby ensuring motion synchronization and processing quality during the processing.

[0057] Step 302: Decompose each speed difference based on the machining trajectory of the CNC machine tool to obtain the tangential speed deviation and normal speed deviation of each feed axis; use the tangential speed deviation and normal speed deviation of each feed axis as the speed coordination error value between the main axis and each feed axis.

[0058] Specifically, in order to more accurately describe and control the speed deviation of the feed motion, it is necessary to decompose and analyze the speed difference from a kinematic perspective. Based on the machining trajectory of the CNC machine tool, the vector decomposition method is used to decompose the speed difference of each feed axis into two components: tangential and normal. In the decomposition process, the tangential direction and normal direction of the machining trajectory at the current position are first determined. The tangential direction is consistent with the instantaneous motion direction of the motion trajectory, and the normal direction is perpendicular to the tangential direction. Then, the speed difference is projected onto these two directions to obtain the tangential speed deviation and the normal speed deviation. Among them, the tangential speed deviation reflects the speed matching degree of the feed motion in the motion direction, which directly affects the machining efficiency and surface quality; the normal speed deviation reflects the trend of the feed motion deviating from the ideal trajectory, which directly affects the machining contour accuracy. By taking the tangential speed deviation and the normal speed deviation as the speed coordination error values, the system can identify and process the speed deviations in different directions respectively. This decomposition method based on kinematic characteristics can not only more accurately describe the nature of the speed deviation, but also facilitate the implementation of targeted speed compensation control. Through real-time monitoring and compensation of tangential and normal speed deviations, the speed control accuracy of the feed motion can be effectively improved, ensuring the continuity and smoothness of the machining trajectory, and ultimately improving the machining quality.

[0059] Based on the above embodiment, as an optional embodiment, in step 103: based on the first speed information and each second speed information, the acceleration coordination error value between the main shaft and each feed shaft is calculated. This step may also include the following steps:

[0060] Step 303: Determine the spindle angular acceleration in the first speed information and the feed acceleration in each second speed information; within the preset processing time, integrate the spindle angular acceleration to obtain the spindle speed change, and integrate each feed acceleration to obtain the corresponding feed speed change.

[0061] Specifically, in order to accurately evaluate the speed change characteristics of the spindle and the feed axis in the dynamic process, it is necessary to perform an integral analysis on their acceleration. The present invention first extracts the angular acceleration data of the spindle from the first speed information, and at the same time extracts the feed acceleration data of each feed axis from the second speed information. These acceleration data reflect the instantaneous dynamic characteristics of the moving parts. Then, an appropriate preset processing time is selected as the analysis window. This time should be sufficient to capture the complete process of speed change and ensure calculation efficiency. Within the preset processing time, the spindle angular acceleration is time-integrated to obtain the change in spindle speed during this period; similarly, the feed acceleration of each feed axis is time-integrated to obtain the change in feed speed of each feed axis during this period. This analysis method based on integral operation can convert instantaneous acceleration information into speed change, and more intuitively reflect the dynamic response characteristics of the moving parts. By comparing the relationship between the spindle speed change and the speed change of each feed axis, the response consistency of each moving axis in the dynamic process can be evaluated, providing an important basis for subsequent dynamic compensation control. At the same time, this analysis method can also predict the speed change trend, which helps to identify possible speed mismatch problems in advance, thereby achieving more forward-looking compensation control and improving the dynamic accuracy of the machining process.

[0062] Step 304: performing differential operations on the spindle speed variation and each feed speed variation respectively to obtain a spindle acceleration variation rate sequence and multiple feed acceleration variation rate sequences.

[0063] Specifically, in order to analyze the dynamic response characteristics of the spindle and the feed axis, it is necessary to further perform differential processing on the speed variation to obtain the variation law of acceleration. The present invention adopts a numerical difference method, firstly, the spindle speed variation within the preset processing time is divided into a sequence according to the sampling time interval, and then the speed variation between adjacent sampling points is differentially operated to obtain a spindle acceleration rate sequence. This sequence reflects the variation trend of the spindle acceleration over time and reflects the acceleration characteristics of the spindle in the dynamic process. Similarly, the feed speed variation of each feed axis is also subjected to the same differential processing to obtain a plurality of feed acceleration rate sequences, which describe the dynamic variation process of the acceleration of each feed axis. By converting the speed variation into an acceleration rate sequence through differential operation, not only the dynamic characteristics of the moving parts can be described in more detail, but also the instantaneous variation law of acceleration can be revealed. This differential-based analysis method enables the system to capture the sudden change or abnormality of acceleration in time, and provides a more direct basis for evaluating the dynamic response performance of the moving axis. By comparing the acceleration change rate sequences of the spindle and each feed axis, the dynamic response mismatch can be accurately identified, laying the foundation for precise acceleration compensation control, thereby improving the dynamic coordination of the system during the speed change process.

[0064] Step 305: Compare the timestamps and amplitudes of the spindle acceleration rate sequence and each feed acceleration rate sequence at the acceleration mutation position to obtain the corresponding time offset and amplitude deviation; use the corresponding time offset and amplitude deviation as the acceleration coordination error value between the spindle and each feed axis.

[0065] Specifically, in order to accurately quantify the dynamic response difference between the spindle and the feed axis, it is necessary to perform feature point analysis on the acceleration rate sequence. First, identify the mutation positions in the acceleration rate sequence, which usually show a significant jump in the acceleration rate, reflecting the sharp change of the motion state. For each mutation position, record the timestamp and amplitude of its occurrence. These characteristic parameters reflect the response characteristics of the moving parts to dynamic changes. Then, the mutation features in the spindle acceleration rate sequence are paired and compared with the corresponding mutation features in the acceleration rate sequences of each feed axis. By calculating the timestamp difference of the corresponding mutation positions, the time offset is obtained. This parameter reflects the degree of lag or lead of the dynamic response of the feed axis relative to the spindle; by calculating the difference in mutation amplitude, the amplitude deviation is obtained. This parameter reflects the degree of matching between the feed axis and the spindle in terms of dynamic response intensity. This analysis method based on feature point comparison can intuitively reflect the response difference between the spindle and the feed axis in the dynamic process, taking into account both time synchronization and amplitude matching. Taking the time offset and amplitude deviation as the acceleration coordination error value provides a comprehensive dynamic performance evaluation index for the system. By monitoring the changes of these error values ​​in real time, the dynamic coordination state between the spindle and the feed axis can be accurately grasped, providing a basis for the implementation of precise dynamic compensation control, and ultimately improving the dynamic response consistency and processing accuracy of the system during the speed change process.

[0066] Step 104: Perform error analysis on the position coordination error value, speed coordination error value and acceleration coordination error value between the main shaft and each feed shaft, and obtain the feed shaft to be compensated whose coordination degree with the main shaft is less than the coordination degree threshold.

[0067] Among them, coordination refers to a quantitative indicator of the degree of motion matching between the spindle and feed axis of a CNC machine tool.

[0068] The feed axis to be compensated refers to the feed axis that needs to be compensated when the coordination between it and the spindle is lower than the preset coordination threshold during the movement of the CNC machine tool. The feed axis to be compensated is the feed axis that is identified as having insufficient motion coordination after the coordination evaluation through comprehensive analysis of the position coordination error value, speed coordination error value and acceleration coordination error value.

[0069] Specifically, in order to evaluate the motion coordination of the feed axis and identify the feed axis that needs to be compensated, it is necessary to conduct a comprehensive analysis of the acquired multidimensional error information. The present invention adopts a method of geometric feature modeling to perform feature conversion and spatial mapping on the position coordination error value, speed coordination error value and acceleration coordination error value between the spindle and each feed axis, and constructs a geometric expression model of the error feature. On this basis, the complex multidimensional error information is converted into a standardized coordination index through mathematical methods such as coordinate transformation and distance measurement. This index intuitively reflects the degree of motion coordination between the feed axis and the spindle. The closer the value is to 1, the better the coordination is, and the closer it is to 0, the worse the coordination is. By comparing the coordination of each feed axis with the preset coordination threshold, the feed axis that needs to be compensated can be effectively identified. This screening method based on multidimensional error analysis not only takes into account the comprehensive impact of different types of errors, but also provides a clear evaluation standard, which provides a reliable decision-making basis for the subsequent implementation of compensation control, and helps to improve the dynamic accuracy and quality stability during the processing process.

[0070] Based on the above embodiment, as an optional embodiment, in step 104: performing error analysis processing on the position coordination error value, speed coordination error value and acceleration coordination error value between the main shaft and each feed shaft, and obtaining the feed shaft to be compensated whose coordination degree with the main shaft is less than the coordination degree threshold, this step may also include the following steps:

[0071] Step 401: Generate the corresponding error values ​​of each feed axis according to the position coordination error value, speed coordination error value and acceleration coordination error value between the main axis and each feed axis.

[0072] The three-dimensional error feature point refers to a spatial point determined in a three-dimensional coordinate system with position coordination error value, velocity coordination error value and acceleration coordination error value as coordinate components. The three-dimensional error feature point is a geometric representation obtained by spatially mapping the three types of coordination error values ​​of the feed axis.

[0073] Specifically, in order to realize the intuitive expression and analysis of multi-dimensional error information, it is necessary to convert different types of coordination error values ​​into visual feature representations. The present invention adopts a three-dimensional space mapping method to correspond the position coordination error value, the speed coordination error value and the acceleration coordination error value to the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system, respectively, to construct an error feature space. For each feed axis, based on the numerical values ​​of its three types of coordination error values, a corresponding feature point is determined in the three-dimensional space, and the spatial coordinates of the point are the three error values. This expression method based on spatial mapping integrates discrete error information into a unified geometric representation, making the error distribution characteristics more intuitive and visible. By observing the distribution position of the feature points in the three-dimensional space, the error combination characteristics of each feed axis can be quickly determined. The farther the feature point is from the coordinate origin, the greater the comprehensive error of the feed axis. This three-dimensional feature representation method not only realizes the unified description of multi-dimensional error information, but also provides a geometric basis for subsequent cluster analysis. By analyzing the spatial distribution law of the feature points, the error feature differences of different feed axes can be better understood, providing an important reference for formulating targeted compensation strategies, thereby improving the accuracy and effectiveness of compensation control.

[0074] Step 402: Project each three-dimensional error feature point onto a pre-constructed spherical coordinate system, in which the position coordination error value corresponds to the radial component, the velocity coordination error value corresponds to the azimuth component, and the acceleration coordination error value corresponds to the pitch component.

[0075] Among them, the pre-constructed spherical coordinate system refers to a spatial coordinate system that uses the origin of the error feature space as the center of the sphere and represents points in the three-dimensional space with radial distance and two angles. Specifically, the pre-constructed spherical coordinate system consists of three basic components: the radial component represents the distance from the feature point to the origin, corresponding to the position coordination error value; the azimuth component represents the angle between the projection of the feature point on the horizontal plane and the reference direction, corresponding to the speed coordination error value; the pitch angle component represents the angle between the feature point and the vertical direction, corresponding to the acceleration coordination error value.

[0076] Specifically, in order to more effectively analyze the spatial distribution law of error characteristics, it is necessary to convert the error feature points in the three-dimensional rectangular coordinate system into a spherical coordinate system that is more suitable for describing the spatial distribution characteristics. The present invention pre-constructs a spherical coordinate system with the origin of the error feature space as the center of the sphere, and establishes a corresponding relationship between the error component and the spherical coordinate component: the position coordination error value is mapped to the radial component r, which represents the overall size of the error; the speed coordination error value is mapped to the azimuth component θ, which represents the angular offset in the horizontal plane; the acceleration coordination error value is mapped to the pitch component φ, which represents the angle with the vertical direction. For each three-dimensional error feature point, its rectangular coordinate value is converted into the corresponding spherical coordinate value through the coordinate conversion formula. This expression based on the spherical coordinate system has obvious geometric significance: the radial component directly reflects the comprehensive intensity of the error, while the two angular components describe the distribution direction of the error in space. Through the spherical coordinate representation, the spatial aggregation trend of the error characteristics can be more easily discovered, and the distribution density of the feature points on the spherical surface reflects the similarity of the error characteristics. This projection method not only simplifies the calculation of spatial distance, but also makes the directionality of error characteristics more prominent, providing a more reasonable mathematical basis for subsequent clustering analysis, which helps to improve the accuracy and efficiency of clustering. At the same time, spherical coordinate representation also facilitates the visualization and intuitive understanding of error characteristics, which helps engineers quickly grasp the law of error distribution.

[0077] Step 403: Calculate the relative distance between each three-dimensional error feature point and the reference sphere center based on the spherical coordinate value corresponding to each three-dimensional error feature point in the spherical coordinate system.

[0078] Specifically, in order to quantitatively evaluate the degree of deviation of the error characteristics of each feed axis, it is necessary to calculate the spatial distance between the three-dimensional error feature point and the ideal state reference point. The present invention uses the origin of the spherical coordinate system as the reference sphere center, which represents the ideal zero error state. For each three-dimensional error feature point projected into the spherical coordinate system, based on its spherical coordinate value, the distance calculation formula in the spherical coordinate system is used to calculate the relative distance from the point to the reference sphere center. This distance calculation needs to comprehensively consider the contribution of the radial component, the azimuth component and the pitch angle component, and convert the spatial distance in the spherical coordinate form into a scalar form through mathematical transformation. The method of calculating the spatial distance using the spherical coordinate system not only makes the calculation process simpler, but also the calculation result has a clear physical meaning: the larger the relative distance, the farther the comprehensive error of the feed axis deviates from the ideal state. This distance measurement method based on spherical coordinates can simplify the error characteristics in three-dimensional space into a one-dimensional scalar representation, which not only retains the spatial distribution information of the error, but also provides an intuitive numerical comparison benchmark. By analyzing the size distribution of these relative distances, the feed axis with larger errors can be quickly identified, providing important quantitative basis for subsequent error clustering and compensation control, and helping to improve the system's recognition accuracy and processing efficiency of error features.

[0079] Step 404: normalize the relative distances to obtain the coordination between each feed axis and the main axis; select the feed axis with a coordination degree less than a coordination degree threshold as the feed axis to be compensated.

[0080] Specifically, in order to convert the relative distances of different dimensions and ranges into a unified evaluation standard, the relative distances need to be normalized. The present invention adopts the maximum and minimum normalization method to map the relative distances of each feed axis to the interval [0, 1], and the conversion formula is: coordination = 1-(relative distance-minimum relative distance) / (maximum relative distance-minimum relative distance). This normalization process makes the numerical meaning of the coordination clearer: the closer the value is to 1, the better the motion coordination between the feed axis and the spindle; the closer the value is to 0, the worse the motion coordination. Then, a pre-set coordination threshold is used as a judgment standard, and the threshold is determined based on the actual processing accuracy requirements and system performance characteristics. By comparing the coordination of each feed axis with the threshold, the feed axis with a coordination less than the threshold is screened out and identified as the feed axis to be compensated. This screening method based on normalized coordination can objectively identify the feed axis that needs to be compensated, taking into account the overall error distribution of the system and providing a clear basis for compensation priority. By setting a reasonable coordination threshold, the accuracy requirements and computing resource consumption of compensation control can be effectively balanced, ensuring that the system focuses compensation control on the feed axis that needs the most improvement, thereby improving the pertinence and efficiency of compensation control. At the same time, this method also provides quantitative indicators for evaluating the effect of compensation control. By monitoring the changes in coordination before and after compensation, the effectiveness of compensation control can be intuitively judged.

[0081] Step 105: receiving the cutting load parameters of the feed axis to be compensated, and performing dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameters until the coordination degree is greater than or equal to the coordination degree threshold.

[0082] The cutting load parameters refer to the physical quantities that reflect the dynamic load characteristics of the feed shaft during the machining process. The cutting load parameters include the load force, cutting torque, power and other key parameters that reflect the machining status of the feed shaft during the actual cutting process.

[0083] Specifically, in order to ensure the accuracy and real-time performance of compensation control, it is necessary to fully consider the impact of load changes during the cutting process on the dynamic characteristics of the feed shaft. The present invention collects the cutting load parameters of the feed shaft to be compensated during the actual processing process, and these parameters reflect the real-time processing load state borne by the feed shaft. Based on the obtained cutting load parameters, the system can dynamically adjust the compensation strategy to make the compensation amount more in line with the actual processing conditions. During the compensation process, the system continuously monitors the changes in the coordination degree of the feed shaft, and gradually optimizes the compensation parameters through real-time feedback adjustment until the coordination degree of the feed shaft is increased to above the coordination degree threshold. This dynamic compensation method that considers the cutting load can better adapt to the load fluctuations during the processing process, making the compensation effect more accurate and stable. By introducing the cutting load parameters into the compensation control process, not only the real-time and adaptability of the compensation are improved, but also the dynamic accuracy during the processing process is effectively improved, and finally better motion coordination between the feed shaft and the spindle is achieved.

[0084] Based on the above embodiment, as an optional embodiment, in step 105: performing dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameter, this step may also include the following steps:

[0085] Step 501: extract the cutting power, cutting torque and feed resistance of the feed axis to be compensated from the cutting load parameters; use the ratio of the cutting power to the rated cutting power as the first compensation coefficient, and use the ratio of the cutting torque to the preset reference torque value as the second compensation coefficient.

[0086] Among them, cutting power refers to the effective power consumption used to achieve material removal during the processing, which reflects the energy conversion efficiency and processing load intensity of the cutting process; cutting torque refers to the moment generated by the cutting force acting on the tool or workpiece, which characterizes the rotational force state and material deformation degree during the cutting process; feed resistance refers to the resultant force that hinders the movement in the feed motion direction, which reflects the friction resistance and material resistance during the cutting process.

[0087] Specifically, in order to accurately evaluate the influence of cutting load on the motion characteristics of the feed shaft, it is necessary to extract key load characteristic quantities from the cutting load parameters. The present invention first extracts three important parameters, namely cutting power, cutting torque and feed resistance, from the cutting load parameters of the determined feed shaft to be compensated. These parameters respectively reflect the energy consumption level, axial force state and motion resistance in the cutting process. Then, the actual cutting power is ratioed with the rated cutting power of the equipment to obtain a first compensation coefficient, which reflects the utilization degree of the current cutting power relative to the load-bearing capacity of the equipment; at the same time, the actual cutting torque is ratioed with the pre-set reference torque value to obtain a second compensation coefficient, which characterizes the degree of deviation of the cutting torque from the standard working condition. This ratio-based compensation coefficient calculation method has adaptive characteristics and can automatically adjust the compensation strength according to the change of the actual cutting load. By converting the cutting load characteristic quantity into a dimensionless compensation coefficient, not only the subsequent compensation calculation process is simplified, but also the versatility and portability of the compensation method are improved. This load characteristic extraction and coefficient conversion method lays the foundation for establishing a quantitative relationship between cutting load and compensation control, and helps to achieve more accurate load adaptive compensation control.

[0088] Step 502: Detect the change trend of the feed resistance. When the change trend of the feed resistance is an upward trend, enlarge the first compensation coefficient and the second compensation coefficient by a preset ratio. When the change trend of the feed resistance is a downward trend, reduce the first compensation coefficient and the second compensation coefficient by a preset ratio.

[0089] Specifically, in order to enable the compensation control to respond to the dynamic changes of the cutting load in time, the compensation coefficient needs to be adaptively adjusted according to the change trend of the feed resistance. By real-time monitoring of the time series data of the feed resistance, the differential comparison method is used to judge its change trend: when the feed resistance shows an increasing trend in multiple consecutive sampling periods, it indicates that the cutting load is increasing, and the compensation effect needs to be enhanced at this time, so the first compensation coefficient and the second compensation coefficient are multiplied by the preset amplification ratio coefficient at the same time; when the feed resistance shows a decreasing trend, it indicates that the cutting load is decreasing, and the compensation effect needs to be weakened at this time, so the two compensation coefficients are divided by the preset ratio coefficient at the same time. This dynamic adjustment method based on load trend introduces a feedforward compensation mechanism, which responds to the upcoming load changes by pre-adjusting the size of the compensation coefficient. The selection of the preset ratio needs to comprehensively consider the system response characteristics and stability requirements, ensuring the timeliness of the compensation effect and avoiding excessive compensation leading to system oscillation. This adaptive adjustment strategy can synchronize the intensity of the compensation control with the changes in the actual cutting load, and improve the tracking ability and adaptability of the compensation control to load changes. By dynamically adjusting the compensation coefficient, the system can quickly adjust the compensation strategy when the cutting load changes, effectively suppress the impact of load changes on machining accuracy, and improve the dynamic stability and accuracy retention capabilities of the machining process.

[0090] Step 503: Based on the enlarged first compensation coefficient or the reduced second compensation coefficient, the current feed speed, feed acceleration and linear position of the feed axis to be compensated are corrected and compensated respectively.

[0091] Specifically, in order to achieve accurate compensation for the motion parameters of the feed axis to be compensated, it is necessary to comprehensively correct its motion characteristics based on the adjusted compensation coefficient. A multi-level compensation strategy is adopted, and the first compensation coefficient is used to mainly correct the feed speed and feed acceleration, and the second compensation coefficient is used to mainly correct the linear position. At the speed compensation level, the product of the first compensation coefficient and the current feed speed is used as the speed compensation amount, and the actual feed speed is adjusted by increasing or decreasing the compensation amount; at the acceleration compensation level, the product of the first compensation coefficient and the current feed acceleration is used as the acceleration compensation amount to correct the dynamic characteristics during the acceleration and deceleration process; at the position compensation level, the product of the second compensation coefficient and the position error is used as the position compensation amount to correct the actual processing position. This multi-level correction method based on compensation coefficients not only considers the influence of cutting power on motion speed and acceleration characteristics, but also takes into account the role of cutting torque on position accuracy, forming a complete motion parameter compensation system. By compensating for speed, acceleration and position at the same time, various motion errors caused by cutting load can be effectively suppressed, and the dynamic tracking accuracy and trajectory control performance of the feed axis can be improved. During the implementation of this compensation method, the calculation and application of each compensation amount are carried out in real time, ensuring the timeliness and continuity of compensation control, and helping to maintain the stability of the machining process and the consistency of machining quality.

[0092] Based on the above embodiment, as an optional embodiment, in step 105: dynamic error compensation is performed on the feed axis to be compensated in combination with the cutting load parameter. After this step, the following steps may also be included:

[0093] Step 504: obtaining the coolant flow rate and the spindle box temperature of the CNC machine tool; when the coolant flow rate is lower than the flow threshold or the spindle box temperature is higher than the temperature threshold, increasing the throttle valve opening of the cooling channel in the CNC machine tool.

[0094] Specifically, in order to ensure the effectiveness of cutting load compensation and the thermal stability of machine tool operation, it is necessary to monitor and adjust the cooling state during the machining process in real time. The actual flow value of the coolant is obtained by the flow sensor set in the cooling system, and the real-time temperature of the spindle box is monitored by the temperature sensor. When the coolant flow is detected to be lower than the preset flow threshold, it indicates that the heat dissipation capacity of the cooling system is insufficient, which may cause the temperature of the cutting area to rise and the thermal deformation to intensify; or when the spindle box temperature exceeds the preset temperature threshold, it indicates that the spindle system has obvious heat accumulation phenomenon, which may affect the precision stability of the machine tool. At this time, the system will automatically increase the opening of the throttle valve in the cooling channel, increase the circulation of the coolant, and enhance the cooling effect on the cutting area and the spindle box. The throttle valve opening is adjusted by a progressive control strategy. According to the size of the flow deviation or temperature deviation, the valve opening is gradually adjusted according to the predetermined step size until the coolant flow and the spindle box temperature return to the normal range. This threshold-triggered adaptive cooling control method can respond to the heat dissipation needs of the machine tool in a timely manner and effectively prevent thermal deformation and precision reduction caused by temperature rise. By actively adjusting the cooling conditions, a stable thermal environment can be provided for cutting load compensation control, improving the reliability and durability of the compensation effect. It also helps to extend the service life of the main components of the machine tool and maintain the stability of machining accuracy.

[0095] Reference Figure 2 , is a precision control system for an intelligent CNC machine tool provided in an embodiment of the present application, the system comprises: an information acquisition module, an error value calculation module, a feed axis determination module to be compensated, and an error compensation module, wherein:

[0096] An information acquisition module, used to acquire first position information and first speed information of a spindle in a CNC machine tool, and second position information and second speed information of a plurality of feed axes;

[0097] An error value calculation module is used to determine the position coordination error value between the main shaft and each feed shaft according to the first position information and each second position information; and calculate the speed coordination error value and acceleration coordination error value between the main shaft and each feed shaft based on the first speed information and each second speed information;

[0098] A module for determining a feed axis to be compensated is used to perform error analysis on the position coordination error value, speed coordination error value and acceleration coordination error value between the spindle and each feed axis, and obtain a feed axis to be compensated whose coordination degree with the spindle is less than a coordination degree threshold;

[0099] The error compensation module is used to receive the cutting load parameters of the feed axis to be compensated, and perform dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameters until the coordination degree is greater than or equal to the coordination degree threshold.

[0100] On the basis of the above embodiment, the error value calculation module is also used to map the angular position to the spatial coordinate system corresponding to the machining spiral line in the CNC machine tool to obtain the first position coordinate corresponding to the main shaft; determine the second position coordinate of each feed axis in the spatial coordinate system corresponding to the machining spiral line according to the linear position of each feed axis; calculate the radial position offset and axial position offset between the first position coordinate and each second position coordinate; and use each radial position offset and the corresponding axial position offset as the position coordination error value between the main shaft and each feed axis.

[0101] On the basis of the above-mentioned embodiment, the error value calculation module is also used to determine the target feed speed according to the spindle speed and the preset feed amount; calculate the speed difference between the target feed speed and each feed speed; decompose each speed difference based on the processing trajectory of the CNC machine tool to obtain the tangential speed deviation and normal speed deviation of each feed axis; and use the tangential speed deviation and normal speed deviation of each feed axis as the speed coordination error value between the spindle and each feed axis.

[0102] On the basis of the above embodiment, the error value calculation module is also used to determine the spindle angular acceleration in the first speed information and the feed acceleration in each second speed information; within the preset processing time, the spindle angular acceleration is integrated to obtain the spindle speed change, and each feed acceleration is integrated to obtain the corresponding feed speed change; the spindle speed change and each feed speed change are differentially calculated to obtain a spindle acceleration change rate sequence and multiple feed acceleration change rate sequences; the timestamps and amplitudes of the spindle acceleration change rate sequence and each feed acceleration change rate sequence at the acceleration mutation position are compared to obtain the corresponding time offset and amplitude deviation; and each corresponding time offset and amplitude deviation is used as the acceleration coordination error value between the spindle and each feed axis.

[0103] On the basis of the above embodiments, the module for determining the feed axis to be compensated is also used to generate three-dimensional error feature points corresponding to each feed axis according to the position coordination error value, speed coordination error value and acceleration coordination error value between the main axis and each feed axis; project each three-dimensional error feature point onto a pre-constructed spherical coordinate system, in which the position coordination error value corresponds to the radial component, the speed coordination error value corresponds to the azimuth component, and the acceleration coordination error value corresponds to the pitch component; calculate the relative distance between each three-dimensional error feature point and the center of the reference sphere based on the spherical coordinate value corresponding to each three-dimensional error feature point in the spherical coordinate system; normalize each relative distance to obtain the degree of coordination between each feed axis and the main axis; and screen out feed axes with a degree of coordination less than a threshold value of the degree of coordination as feed axes to be compensated.

[0104] On the basis of the above embodiments, the error compensation module is also used to extract the cutting power, cutting torque and feed resistance of the feed axis to be compensated from the cutting load parameters; the ratio of the cutting power to the rated cutting power is used as the first compensation coefficient, and the ratio of the cutting torque to the preset reference torque value is used as the second compensation coefficient; the changing trend of the feed resistance is detected, and when the changing trend of the feed resistance is an upward trend, the first compensation coefficient and the second compensation coefficient are enlarged by a preset ratio, and when the changing trend of the feed resistance is a downward trend, the first compensation coefficient and the second compensation coefficient are reduced by a preset ratio; based on the enlarged first compensation coefficient or the reduced second compensation coefficient, the current feed speed, feed acceleration and linear position of the feed axis to be compensated are corrected and compensated respectively.

[0105] Based on the above embodiment, the error compensation module is also used to obtain the coolant flow and spindle box temperature of the CNC machine tool; when the coolant flow is lower than the flow threshold or the spindle box temperature is higher than the temperature threshold, the throttle valve opening of the cooling channel in the CNC machine tool is increased.

[0106] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0107] The present application also discloses an electronic device. Figure 3 , Figure 3 The electronic device 300 may include: at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0108] The communication bus 302 is used to realize the connection and communication between these components.

[0109] The user interface 303 may include a display interface and a camera interface. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0110] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0111] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface diagrams and applications, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 301, and it can be implemented separately through a chip.

[0112] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally also be at least one storage device located away from the aforementioned processor 301. Refer to Figure 3 , the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of a precision control method for an intelligent CNC machine tool.

[0113] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 301 can be used to call the application program storing a precision control method of an intelligent CNC machine tool in the memory 305, and when executed by one or more processors 301, the electronic device 300 executes one or more methods in the above-mentioned embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0116] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0118] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0119] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0120] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not recorded in the present disclosure. The description and examples are to be regarded as exemplary only.

Claims

1. A precision control method for an intelligent CNC machine tool, characterized in that: include: Acquire first position information and first speed information of a spindle in a numerically controlled machine tool, and second position information and second speed information of a plurality of feed axes; Determine a position coordination error value between the main shaft and each of the feed shafts according to the first position information and each of the second position information; Based on the first speed information and each of the second speed information, a speed coordination error value and an acceleration coordination error value between the main shaft and each of the feed shafts are calculated; Performing error analysis on the position coordination error value, speed coordination error value and acceleration coordination error value between the main shaft and each of the feed shafts to obtain a feed shaft to be compensated whose coordination degree with the main shaft is less than a coordination degree threshold; Receiving the cutting load parameter of the feed axis to be compensated, and performing dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameter until the coordination degree is greater than or equal to the coordination degree threshold; The dynamic error compensation of the feed axis to be compensated is performed in combination with the cutting load parameters, including: Extracting the cutting power, cutting torque and feed resistance of the feed axis to be compensated from the cutting load parameters; The ratio between the cutting power and the rated cutting power is used as a first compensation coefficient, and the ratio between the cutting torque and a preset reference torque value is used as a second compensation coefficient; Detecting a change trend of the feed resistance, and when the change trend of the feed resistance is an upward trend, amplifying the first compensation coefficient and the second compensation coefficient by a preset ratio, and when the change trend of the feed resistance is a downward trend, reducing the first compensation coefficient and the second compensation coefficient by the preset ratio; Based on the enlarged first compensation coefficient or the reduced second compensation coefficient, respectively correct and compensate the current feed speed, feed acceleration and linear position of the feed axis to be compensated; The method of correcting and compensating the current feed speed, feed acceleration and linear position of the feed axis to be compensated based on the enlarged first compensation coefficient or the reduced second compensation coefficient includes: At the speed compensation level, the product of the first compensation coefficient and the current feed speed is used as the speed compensation amount, and the actual feed speed is adjusted by increasing or decreasing the speed compensation amount; at the acceleration compensation level, the product of the first compensation coefficient and the current feed acceleration is used as the acceleration compensation amount to correct the dynamic characteristics during acceleration and deceleration; at the position compensation level, the product of the second compensation coefficient and the position error is used as the position compensation amount to correct the actual processing position.

2. The precision control method of the intelligent numerical control machine tool according to claim 1 is characterized in that: The first position information includes the angular position of the main shaft, the second position information includes the linear position of each feed shaft, and the position coordination error value between the main shaft and each feed shaft is determined according to the first position information and each second position information, including: Mapping the angle position to a spatial coordinate system corresponding to a helical line processed in the CNC machine tool to obtain a first position coordinate corresponding to the spindle; Determining the second position coordinates of each feed axis in the space coordinate system corresponding to the machining spiral line according to the linear position of each feed axis; Calculating a radial position offset and an axial position offset between the first position coordinate and each of the second position coordinates; Each of the radial position offsets and the corresponding axial position offsets are respectively used as position coordination error values ​​between the main shaft and each of the feed shafts.

3. The precision control method of an intelligent numerically controlled machine tool according to claim 1, characterized in that: The first speed information includes a spindle speed, the second speed information includes a feed speed, and the speed coordination error value between the spindle and each of the feed axes is calculated based on the first speed information and each of the second speed information, including: Determining a target feed rate according to the spindle speed and the preset feed rate; Calculating a speed difference between the target feed speed and each of the feed speeds; Decomposing each of the speed differences based on the machining trajectory of the CNC machine tool to obtain a tangential speed deviation and a normal speed deviation of each of the feed axes; The tangential speed deviation and the normal speed deviation of each feed axis are used as the speed coordination error value between the main axis and each feed axis.

4. The precision control method of an intelligent numerically controlled machine tool according to claim 1, characterized in that: The first speed information includes the spindle angular acceleration, the second speed information includes the feed acceleration, and calculating the acceleration coordination error value between the spindle and each of the feed axes includes: Determine the spindle angular acceleration in the first speed information and the feed acceleration in each of the second speed information; Within a preset processing time, the spindle angular acceleration is integrated to obtain a spindle speed change, and each feed acceleration is integrated to obtain a corresponding feed speed change; Performing differential operations on the spindle speed variation and each feed speed variation to obtain a spindle acceleration rate variation sequence and a plurality of feed acceleration rate variation sequences; Comparing the timestamps and amplitudes of the spindle acceleration rate sequence and each feed acceleration rate sequence at the acceleration mutation position to obtain corresponding time offset and amplitude deviation; The corresponding time offsets and amplitude deviations are respectively used as acceleration coordination error values ​​between the main shaft and each of the feed axes.

5. The precision control method of an intelligent numerically controlled machine tool according to claim 1, characterized in that: The error analysis processing is performed on the position coordination error value, speed coordination error value and acceleration coordination error value between the main shaft and each of the feed shafts to obtain a feed shaft to be compensated whose coordination degree with the main shaft is less than a coordination degree threshold, including: Generate a three-dimensional error feature point corresponding to each of the feed axes according to a position coordination error value, a speed coordination error value, and an acceleration coordination error value between the main axis and each of the feed axes; Projecting each of the three-dimensional error feature points onto a pre-constructed spherical coordinate system, in which the position coordination error value corresponds to a radial component, the velocity coordination error value corresponds to an azimuth component, and the acceleration coordination error value corresponds to a pitch component; Calculating the relative distance between each of the three-dimensional error feature points and the reference sphere center based on the spherical coordinate value corresponding to each of the three-dimensional error feature points in the spherical coordinate system; Normalizing each of the relative distances to obtain the degree of coordination between each of the feed axes and the main axis; The feed axes whose coordination degree is less than the coordination degree threshold are selected as the feed axes to be compensated.

6. The precision control method of an intelligent numerically controlled machine tool according to claim 1, characterized in that: After the dynamic error compensation is performed on the feed axis to be compensated in combination with the cutting load parameter, the method further includes: Obtaining the coolant flow rate and spindle box temperature of the CNC machine tool; When the coolant flow rate is lower than a flow threshold or the spindle box temperature is higher than a temperature threshold, the throttle valve opening of the cooling channel in the CNC machine tool is increased.

7. A precision control system for an intelligent CNC machine tool, characterized in that: The system comprises: An information acquisition module, used to acquire first position information and first speed information of a spindle in a CNC machine tool, and second position information and second speed information of a plurality of feed axes; an error value calculation module, used to determine the position coordination error value between the main shaft and each of the feed shafts according to the first position information and each of the second position information; and calculate the speed coordination error value and the acceleration coordination error value between the main shaft and each of the feed shafts based on the first speed information and each of the second speed information; A module for determining a feed axis to be compensated, used for performing error analysis on a position coordination error value, a speed coordination error value and an acceleration coordination error value between the spindle and each of the feed axes, and obtaining a feed axis to be compensated whose coordination degree with the spindle is less than a coordination degree threshold; An error compensation module, used for receiving the cutting load parameter of the feed axis to be compensated, and performing dynamic error compensation on the feed axis to be compensated in combination with the cutting load parameter until the coordination degree is greater than or equal to the coordination degree threshold; The dynamic error compensation of the feed axis to be compensated is performed in combination with the cutting load parameters, including: Extracting the cutting power, cutting torque and feed resistance of the feed shaft to be compensated from the cutting load parameters; taking the ratio of the cutting power to the rated cutting power as the first compensation coefficient, and taking the ratio of the cutting torque to the preset reference torque value as the second compensation coefficient; detecting the change trend of the feed resistance, and when the change trend of the feed resistance is an upward trend, amplifying the first compensation coefficient and the second compensation coefficient by a preset ratio, and when the change trend of the feed resistance is a downward trend, reducing the first compensation coefficient and the second compensation coefficient by the preset ratio; Based on the enlarged first compensation coefficient or the reduced second compensation coefficient, respectively correct and compensate the current feed speed, feed acceleration and linear position of the feed axis to be compensated; The method of correcting and compensating the current feed speed, feed acceleration and linear position of the feed axis to be compensated based on the enlarged first compensation coefficient or the reduced second compensation coefficient includes: At the speed compensation level, the product of the first compensation coefficient and the current feed speed is used as the speed compensation amount, and the actual feed speed is adjusted by increasing or decreasing the speed compensation amount; at the acceleration compensation level, the product of the first compensation coefficient and the current feed acceleration is used as the acceleration compensation amount to correct the dynamic characteristics during acceleration and deceleration; at the position compensation level, the product of the second compensation coefficient and the position error is used as the position compensation amount to correct the actual processing position.

8. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the precision control method of the intelligent CNC machine tool as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the precision control method for the intelligent CNC machine tool as described in any one of claims 1 to 6 is executed.

Images