Machining simulation device and machining simulation method

Abstract

A friction model of a machine tool can be easily generated without test run of the machine tool and without professional knowledge. A machining simulation device includes: a friction model generation unit that generates a friction model of a machine tool; and a simulation execution unit that simulates and reproduces the behavior of the machine tool using the friction model, the friction model generation unit including: a model determination unit that determines the type of the friction model on the basis of the number of data points of torque and speed; and a coefficient calculation unit that calculates coefficients in the friction model on the basis of the determined type of the friction model and the torque and speed data of the number of data points, and the friction model generation unit reflects the generated friction model to the simulation execution unit.

Description

Technical Field

[0001] The present disclosure relates to a machining simulation device and a machining simulation method for generating a friction model of a machine tool using machining simulation. Background Art

[0002] For example, a machining simulation device is known in which a mechanical simulation unit determines the transfer characteristics of a machine tool and can estimate the position information of a tool based on a position command of a machining program and the transfer characteristics of the machine tool.

[0003] In addition, the following control device technology is known: for one or more axes of a machine, at least a position command and a position feedback are obtained, and the coefficient of the friction model when performing position control is estimated based on the difference between the obtained position command and the position feedback, that is, the position deviation, to perform position control taking friction into consideration. For example, refer to Patent Document 2.

[0004] In addition, there is a known technique that uses the least square method or the like to linearly approximate the friction force and motor speed obtained by controlling an actual machine such as an XY table or an industrial robot to generate a friction model, and uses the friction force obtained from the friction model as a compensation value to control the actual machine with high precision. For example, refer to Patent Document 3.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2019-152936

[0008] Patent Document 2: Japanese Patent Application Publication No. 2019-185742

[0009] Patent Document 3: Japanese Patent Application Publication No. 2006-146572 Summary of the invention

[0010] Problems to be solved by the invention

[0011] However, in the technology described in Patent Document 1, if friction is to be considered as a transmission characteristic of a machine tool constituting a mechanical simulation unit, it is necessary to analyze the operation data of the machine tool to generate a friction model.

[0012] Furthermore, in the techniques described in Patent Documents 1 to 3, specialized knowledge is required to generate a friction model, and in some cases, a machine tool needs to be tested only for the purpose of generating a friction model.

[0013] Therefore, it is desired to be able to easily generate a friction model of a machine tool without commissioning the machine tool and even without professional knowledge.

[0014] Means for solving problems

[0015] One method of the machining simulation device disclosed in the present invention comprises: a friction model generating unit, which generates a friction model of a machine tool; and a simulation executing unit, which uses the friction model to simulate and reproduce the behavior of the machine tool, the friction model generating unit includes: a model determining unit, which determines the type of the friction model according to the number of data points of torque and speed; and a coefficient calculating unit, which calculates the coefficients in the friction model based on the determined type of the friction model and the data of the torque and speed of the number of data points, and the friction model generating unit causes the generated friction model to be reflected in the simulation executing unit.

[0016] One embodiment of the machining simulation method disclosed herein is a machining simulation method for enabling a computer to function as a machining simulation device, the machining simulation method comprising the following steps: a friction model generating step for generating a friction model of a machine tool; and a simulation executing step for using the friction model to simulate and reproduce the behavior of the machine tool, the friction model generating step comprising the following steps: a model determining step for determining the type of the friction model according to the number of data points of torque and speed; and a coefficient calculating step for calculating the coefficient in the friction model based on the determined type of the friction model and the data of torque and speed of the number of data points, wherein in the friction model generating step, the generated friction model is reflected in the simulation executing step. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a diagram showing an example of a functional block configuration of a machining simulation system according to an embodiment.

[0018] Figure 2A This is a diagram showing an example of the relationship between the number of data points and the type of friction model.

[0019] Figure 2B It is represented by a graph Figure 2A A diagram showing an example of the relationship between .

[0020] Figure 3A This is a diagram showing an example of a screen when the number of data points is 1.

[0021] Figure 3B This is a diagram showing an example of a screen when the number of data points is 2 (the same).

[0022] Figure 3C This is a diagram showing an example of a screen when the number of data points is 2 (opposite).

[0023] Figure 3D This is a diagram showing an example of a screen when the number of data points is 4.

[0024] Figure 3EThis is a diagram showing an example of a screen when the number of data points is 5.

[0025] Figure 4 This is a flowchart for explaining the simulation processing of the machining simulation device. DETAILED DESCRIPTION

[0026] Hereinafter, a machining simulation system according to an embodiment will be described in detail with reference to the drawings.

[0027] <One Implementation Method>

[0028] First, the present embodiment is briefly described. In the present embodiment, the type of friction model is determined according to the number of torque and speed data points, the coefficients in the friction model are calculated based on the determined type of friction model and the torque and speed data of the number of data points, and the generated friction model is reflected in the simulation execution unit.

[0029] Thus, according to the present embodiment, a friction model of a machine tool can be easily generated without having to test-run the machine tool and even without having professional knowledge.

[0030] The above is an overview of the present embodiment.

[0031] Figure 1 This is a diagram showing an example of a functional block configuration of a machining simulation system according to an embodiment.

[0032] like Figure 1 As shown, the machining simulation system 1 includes a machining simulation device 10 and a storage device 20 .

[0033] The machining simulation device 10 and the storage device 20 are connected to each other via a network (not shown) such as a LAN (Local Area Network) or the Internet to communicate with each other. In this case, the machining simulation device 10 and the storage device 20 are provided with a communication unit (not shown) for communicating with each other via the above connection. In addition, the machining simulation device 10 and the storage device 20 may be directly connected to each other via a connection interface (not shown).

[0034] In addition, the machining simulation device 10 and the storage device 20 are different devices from each other, but as described later, the storage device 20 may be included in the machining simulation device 10 .

[0035] The storage device 20 is a data server or the like, and stores load and speed data of motors included in a machine tool (not shown) to be simulated. If the machine tool (not shown) has a plurality of motors, the storage device 20 may store load and speed data for each motor.

[0036] In addition, the load and speed data are, for example, the motor torque applied when the feed axis of the machine tool (not shown) of the control object (simulation object) is at a fixed speed, or the load torque measured by the torque sensor and the moving speed of the feed axis. However, when the motor is a linear motor, the torque is replaced by force.

[0037] <Processing simulation device 10>

[0038] The machining simulation device 10 is a computer or the like known to those skilled in the art, and includes a control unit 11, a display unit 12, and an input unit 13. In addition, the control unit 11 includes a friction model generation unit 110 and a simulation execution unit 111. In addition, the friction model generation unit 110 includes a model determination unit 1101 and a coefficient calculation unit 1102.

[0039] The display unit 12 is, for example, a liquid crystal display, etc. As described later, the display unit 12 displays a screen of the friction model generated by the friction model generation unit 110, etc.

[0040] The input unit 13 is, for example, a keyboard or a touch panel disposed on the display unit 12 , and receives input from a user.

[0041] <Control Unit 11>

[0042] The control unit 11 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CMOS (Complementary Metal-Oxide-Semiconductor) memory, etc., which are configured to be able to communicate with each other via a bus, which is well known to those skilled in the art.

[0043] The CPU is a processor that controls the machining simulation device 10 as a whole. The CPU reads out the system program and application program stored in the ROM via the bus, and controls the entire machining simulation device 10 according to the system program and application program. Figure 1 As shown in FIG. 1 , the control unit 11 is configured to realize the functions of a friction model generation unit 110 and a simulation execution unit 111. In addition, the friction model generation unit 110 is configured to realize the functions of a model determination unit 1101 and a coefficient calculation unit 1102. Various data such as temporary calculation data and display data are stored in the RAM. In addition, the CMOS memory is backed up by a battery (not shown) and is configured as a non-volatile memory that maintains the storage state even if the power supply of the machining simulation device 10 is turned off.

[0044] The friction model generation unit 110 obtains, for example, the load (torque) value when the speed of the feed axis of the machine tool (not shown) is fixed, that is, the load and speed data from the storage device 20. The friction model generation unit 110 generates a friction model of the machine tool (not shown) based on the processing of the model determination unit 1101 and the coefficient calculation unit 1102 corresponding to the acquired load and speed data and the number of data points, and reflects the generated friction model to the simulation execution unit 111.

[0045] The model determination unit 1101 determines the type of friction model based on the number of data points of load and speed data in a machine tool (not shown) acquired from the storage device 20 , for example.

[0046] Furthermore, when describing the processing of the model determination unit 101 , the relationship between the number of data points and the type of friction model will be described first.

[0047] Figure 2A This is a diagram showing an example of the relationship between the number of data points and the type of friction model. Figure 2B It is represented by a graph Figure 2A A diagram showing an example of the relationship between .

[0048] like Figure 2A As shown in , the friction model is a function that takes speed v as an input variable and outputs load f. As the number of data points increases, it becomes a complex function, and the accuracy of friction reproduction increases. Figure 2B As shown in FIG. 1 , when the number of data points of the load and speed data obtained from the storage device 20 is 1 (for example, the load and speed data E1, etc.), the friction model becomes a linear function of the coefficient a shown by the dotted line, that is, a type of only viscous friction. In addition, the load f output by the friction model is "friction force" in the direct-acting system and "friction torque" in the rotating system.

[0049] In addition, when the number of data points of the load and speed data obtained from the storage device 20 is, for example, two points (the same) of load and speed data E1 and E2 in the same moving direction of the feed axis of a machine tool (not shown), the friction model becomes a linear function of the coefficient a and intercept b·sgn(v) of the data passing through the two points as shown by the dotted line, that is, a type of viscous friction and static friction combined. In addition, sgn(v) is a sign function that is "1" when the speed v is positive and "-1" when the speed v is negative. That is, static friction is friction whose sign is determined by the moving direction and whose magnitude does not depend on the speed. In addition, the friction model in the case where the number of data points is two points (the same) may also have continuity near the speed v=0 in order to stabilize the calculation.

[0050] In addition, when the number of data points of the load and speed data obtained from the storage device 20 is, for example, two points (opposite) of load and speed data E1 and E3 in which the moving directions of the feed axis of a machine tool (not shown) are opposite, the friction model becomes a linear function of the coefficient a and intercept g of the data passing through the two points as shown by a single-point chain line, that is, a type of a combination of viscous friction and stabilizing action. In addition, the intercept g is a stabilizing force in a specific direction, that is, gravity.

[0051] In addition, when the load and speed data obtained from the storage device 20 have more than 2 points on the positive side and the negative side in the moving direction of the feed axis of the machine tool (not shown), that is, a total of more than 4 points (for example, load and speed data E1 to E4, etc.), the friction model becomes a type shown by the solid line, in which the speed v on the positive side is load f=a1·v+b1, the speed v on the negative side is load f=a2·v+b2, and when the speed v is "0", it is load f=(b1+b2) / 2, and viscous friction, static friction and stabilizing action are combined.

[0052] Based on the above, the model determination unit 1101 determines the type of friction model based on the number of data points of the load and speed data obtained from the storage device 20 (and when the number of data points is 2 points, the relationship between the two points of data in the moving direction of the feed axis of the machine tool (not shown)).

[0053] The coefficient calculation unit 1102 calculates the coefficient a, the intercept b·sgn(v), and the intercept g in the friction model based on the load and speed data acquired from the storage device 20 and the determined type of the friction model.

[0054] Specifically, when the model determination unit 1101 determines the type of friction model with one data point, the coefficient calculation unit 1102 calculates f / v and the coefficient a based on the load and speed data of one point acquired from the storage device 20. The friction model generation unit 1100 generates the result related to the generated friction model in the form of Figure 3A The screen 200 shown is displayed on the display unit 12 .

[0055] Figure 3AThe screen 200 shown has a data display area 210 for displaying the load and speed data obtained from the storage device 20, a coefficient display area 220 for displaying the coefficient a calculated by the coefficient calculation unit 1102, and a model display area 230 for displaying the generated friction model. That is, in the data display area 210, as the data of the load and speed of one point, for example, the value of the feed speed 50 mm / s and the value of the load (TCMD) 9.799% are displayed respectively. In addition, an "add row" button for adding the load and speed data may be arranged in the data display area 210. In addition, in the coefficient display area 220, the value of the load / feed speed 0.196% / (mm / s) is displayed as the coefficient a. In addition, when the number of data points is one point, since there is no static friction (intercept b·sgn(v)) and stable external force (intercept g), it is displayed as "0". In addition, in the model display area 230, the generated friction model is displayed.

[0056] In addition, when the model determination unit 1101 determines the type of friction model with two (same) data points, the coefficient calculation unit 1102 calculates the coefficient a and the intercept b·sgn(v) based on the load and speed data of the two points from the storage device 20. The friction model generation unit 1102 stores the results related to the generated friction model in Figure 3B The screen 200 shown is displayed on the display unit 12 .

[0057] Figure 3B The screen 200 shown in the data display area 210 displays, for example, the values ​​of the feed speed of 50 mm / s and 20 mm / s, and the values ​​of the load of 9.799% and 9.467%, respectively, as the load and speed data of two points in the same moving direction of the feed axis of the machine tool (not shown). The screen 200 displays the value of the load / feed speed of 0.011% / (mm / s) as the coefficient a and the value of the static friction (intercept b·sgn(v)) of 9.246% in the coefficient display area 220. In addition, when the number of data points is 2 (the same), since there is no stable external force (intercept g), it is displayed as "0". In addition, the screen 200 displays the generated friction model in the model display area 230.

[0058] In addition, when the model determination unit 1101 determines the type of friction model with two data points (opposite), the coefficient calculation unit 1102 calculates the coefficient a and the intercept g based on the load and speed data of the two points from the storage device 20. The friction model generation unit 1102 stores the result related to the generated friction model in Figure 3C The screen 200 shown is displayed on the display unit 12 .

[0059] Figure 3CThe screen 200 shown in the data display area 210 displays, for example, the load and speed data of two points in the feed axis of the machine tool (not shown) in opposite directions, the feed speed values ​​of 50 mm / s and -50 mm / s, and the load values ​​of 9.799% and 5.905%, respectively. The screen 200 displays the load / feed speed value of 0.039% / (mm / s) as the coefficient a and the value of the stable external force (intercept g) of 7.852% in the coefficient display area 220. In addition, when the number of data points is 2 points (opposite), since there is no static friction (intercept b·sgn(v)), it is displayed as "0". In addition, the screen 200 displays the generated friction model in the model display area 230.

[0060] In addition, when the model determination unit 1101 determines the type of friction model with four data points, the coefficient calculation unit 1102 calculates the coefficients a1, a2 and the intercepts b1, b2 based on the load and speed data of the four points from the storage device 20. The friction model generation unit 1102 generates the result related to the generated friction model in the form of Figure 3D The screen 200 shown is displayed on the display unit 12 .

[0061] Figure 3D The screen 200 shown in the data display area 210 displays, for example, the values ​​of feed speed 50 mm / s, 20 mm / s, -20 mm / s, -50 mm / s and the values ​​of load 9.799%, 9.467%, 6.331%, 5.905% as the load and speed data of two points in the feed axis of the machine tool (not shown) in opposite directions. The screen 200 displays the value of coefficient a (=(a1+a2) / 2), i.e., load / feed speed 0.013% / (mm / s), the value of static friction (intercept b·sgn(v)) 1.315%, and the value of stable external force (load f=(b1+b2) / 2) 7.930% in the coefficient display area 220. In addition, the screen 200 displays the generated friction model in the model display area 230.

[0062] In addition, when the friction model with four or more data points is determined by the model determination unit 1101, the coefficient calculation unit 1102 calculates the coefficients a1, a2 and the intercepts b1, b2 based on the load and speed data of the four points as follows. Figure 3D The data A(v A , f A )、data B(v B , f B ), calculate the coefficient a1=(f A -f B ) / (v A -v B) and intercept b1=f A -a1·v A In addition, the coefficient calculation unit 1102 uses the data C(v C , f C ), data D(v D , f D ) Calculate the middle coefficient a2 = (f C -f D ) / (v C -v D ) and the intercept b2 = f C -a2·v C Then, the coefficient calculation unit 1102 calculates the load f=(b1+b2) / 2 when the velocity v is "0" as a stable external force using the calculated intercept b1 and intercept b2.

[0063] In addition, when the number of data points of the load and speed data is 5, for example, and when the model determination unit 1101 determines the type of friction model to have 4 or more data points, the coefficient calculation unit 1102 calculates the coefficients a1, a2 and the intercepts b1, b2 based on the 5-point load and speed data obtained from the storage device 20.

[0064] Specifically, if Figure 3E As shown, for example, when the number of data points of the load and speed data is 5, that is, when the number of data points on the positive side of the speed v is 3, the coefficient calculation unit 1102 calculates the coefficient a1 and the intercept b1 by applying, for example, the least square method to the load and speed data of the 3 points on the positive side of the speed v. That is, the coefficient calculation unit 1102 calculates the coefficient a1=Σ i＝1,N (v i - <v> )·(f i - <f>) / S i＝1,N (v i - <v>) 2 , and the intercept b1 = <f> -a1· <v>Here, N represents the number of data points on the positive side of velocity v. In addition, <v> 、 <f>It represents the average value of N speeds v and loads f on the positive side.

[0065] The coefficient calculation unit 1102 calculates the load and speed data of two points on the negative side of the speed v and Figure 3D Similarly, calculate the coefficient a2 and the intercept b2.

[0066] The friction model generation unit 110 generates the result related to the generated friction model in the form of Figure 3E The screen 200 shown is displayed on the display unit 12. Figure 3E In the case where there are load and speed data of three points on the positive side of the speed v, but there are load and speed data of more than three points on the negative side of the speed v, the coefficient calculation unit 1102 also calculates the coefficient a2 and the intercept b2 in the same manner.

[0067] Figure 3E The screen 200 shown in the data display area 210 displays, for example, the values ​​of feed speed 50 mm / s, 35 mm / s, 20 mm / s, -20 mm / s, -50 mm / s and the values ​​of load 9.799%, 9.807%, 9.467%, 6.331%, 5.905% as the data of load and speed at five points of the feed axis of the machine tool (not shown). The screen 200 displays the value of load / feed speed 0.011% / (mm / s) of the coefficient a1 in the positive direction (positive side), the value of static friction (intercept b1) 9.304%, the value of load / feed speed 0.014% / (mm / s) of the coefficient a2 in the negative direction (negative side), and the value of static friction (intercept b2) 6.615% in the coefficient display area 220. In addition, the screen 200 displays the generated friction model in the model display area 230.

[0068] The simulation execution unit 111 simulates and reproduces the behavior of a machine tool (not shown) using the friction model generated by the friction model generation unit 110 .

[0069] Specifically, the simulation execution unit 111 uses, for example, the friction model generated by the friction model generation unit 110 and a known simulation method, and takes as input the command position of the axis generated from the machining program to simulate the position and behavior of each axis of a machine tool (not shown).

[0070] Thus, the machining simulation device 10 can simulate and reproduce the friction in the position and behavior of each axis of the machine tool (not shown) with respect to the speed input and output load using the friction model with the determined type and coefficient.

[0071] <Simulation Processing of Machining Simulator>

[0072] Next, refer to Figure 4 The flow of the simulation process performed by the machining simulation device 10 will be described.

[0073] Figure 4 It is a flowchart explaining the simulation process of the machining simulation device 10.

[0074] In step S11 , the model determination unit 1101 determines a friction model based on the number of data points of load and speed data in a machine tool (not shown) acquired from the storage device 20 .

[0075] In step S12 , the coefficient a (or coefficients a1 , a2 , intercepts b1 , b2 , intercept b·sgn(v), intercept g) of the friction model is calculated based on the load and speed data acquired from the storage device 20 and the friction model determined in step S11 .

[0076] In step S13 , the simulation execution unit 111 simulates the position and behavior of each axis of a machine tool (not shown) based on the machining program using the friction model generated in step S12 .

[0077] As described above, the machining simulation device 10 according to one embodiment can easily generate a friction model of a machine tool without requiring a test run of the machine tool and without requiring specialized knowledge. In other words, the user can consider friction as a transfer characteristic of the machine tool without requiring specialized knowledge.

[0078] Furthermore, the machining simulation device 10 can generate a friction model with at least one point of data, and therefore, there is no need to test-run the machine tool (not shown) only for the purpose of generating the friction model.

[0079] <Modification 1>

[0080] In one embodiment, the machining simulation device 10 and the storage device 20 are different devices, but the present invention is not limited thereto. For example, the storage device 20 may be configured to be included in the machining simulation device 10 .

[0081] <Modification 2>

[0082] In addition, for example, in the above-mentioned embodiment, as the friction model in the case of more than 4 points, Figure 2A The model shown in FIG. 1 is not limited to this. For example, as a friction model for a case with more than 4 points, a linear function consisting of viscous friction, static friction, and stabilizing force of f = a·v+b·sgn(v)+g may be used. In this case, the coefficient a, intercept b·sgn(v), and intercept g can be used. Figure 2A The coefficients a1, a2 and intercepts b1, b2 of the friction model shown are as follows: a=(a1+a2) / 2, b=(b1-b2) / 2, and g=(b1+b2) / 2.

[0083] In addition, each function included in the machining simulation device 10 in one embodiment can be realized by hardware, software, or a combination thereof. Here, realization by software means realization by reading and executing a program by a computer.

[0084] The program can be stored and provided to the computer using various types of non-transitory computer readable media (Non-transitorycomputer readable medium). Non-transitory computer readable media include various types of tangible recording media (Tangible storage medium). Examples of non-transitory computer readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), optical magnetic recording media (e.g., optical magnetic disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (ProgrammableROM), EPROM (Erasable PROM), flash ROM, RAM). In addition, the program can also be provided to the computer via various types of transient computer readable media (Transitory computer readable medium). Examples of transient computer readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer readable media can provide the program to the computer via a wired communication path such as wires and optical fibers or a wireless communication path.

[0085] Furthermore, the steps describing the program recorded in the recording medium include processing performed in time series according to the order, and also include processing performed in parallel or individually even if not necessarily in time series. Furthermore, the steps describing the program may also be implemented through cloud computing.

[0086] The present disclosure has been described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the present disclosure, or without departing from the scope of the main purpose of the present disclosure derived from the contents recorded in the scope of the patent protection requested and its equivalents. In addition, these embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example and are not limited to this. In addition, the same is true for the case where numerical values ​​or mathematical formulas are used in the description of the above-mentioned embodiments.

[0087] The following additional remarks are disclosed in relation to the above-mentioned embodiment and modified examples.

[0088] (Note 1)

[0089] The machining simulation device (10) comprises: a friction model generating unit (110) which generates a friction model of a machine tool; and a simulation executing unit (111) which uses the friction model to simulate and reproduce the behavior of the machine tool. The friction model generating unit (110) includes: a model determining unit (1101) which determines the type of the friction model according to the number of data points of torque and speed; and a coefficient calculating unit (1102) which calculates the coefficient in the friction model based on the determined type of the friction model and the data of the torque and speed of the number of data points. The friction model generating unit (110) causes the generated friction model to be reflected in the simulation executing unit (111).

[0090] (Note 2)

[0091] In the processing simulation device (10) of Supplementary Note 1, the friction model includes a stabilizing effect in a specific direction.

[0092] (Note 3)

[0093] In the processing simulation device (10) of Note 2, when the number of data points is 1 point, the model determination unit (1101) determines the type of friction model of viscous friction; when the number of data points is 2 points and the speeds of the 2 points are in the same moving direction, the model determination unit (1101) determines the type of friction model of viscous friction and static friction; when the number of data points is 2 points and the speeds of the 2 points are in opposite moving directions, the model determination unit (1101) determines the type of friction model of viscous friction and stabilizing action; when the number of data points is 4 points, the model determination unit (1101) determines the type of friction model of viscous friction, static friction and stabilizing action.

[0094] (Note 4)

[0095] The machining simulation method is a machining simulation method for making a computer function as a machining simulation device (10), and the machining simulation method comprises the following steps: a friction model generating step for generating a friction model of a machine tool; and a simulation execution step for using the friction model to simulate and reproduce the behavior of the machine tool, and the friction model generating step comprises the following steps: a model determining step for determining the type of friction model according to the number of data points of torque and speed; and a coefficient calculating step for calculating the coefficient in the friction model based on the determined type of friction model and the data of torque and speed of the number of data points, and in the friction model generating step, the generated friction model is reflected in the simulation execution step.

[0096] (Note 5)

[0097] In the machining simulation method of Supplementary Note 4, the friction model includes a stabilizing effect in a specific direction.

[0098] (Note 6)

[0099] In the processing simulation method of Note 5, in the model determination step, when the number of data points is 1 point, the type of friction model of viscous friction is determined; when the number of data points is 2 points and the speeds of the 2 points are in the same moving direction, the type of friction model of viscous friction and static friction is determined; when the number of data points is 2 points and the speeds of the 2 points are in opposite moving directions, the type of friction model of viscous friction and stabilizing action is determined; when the number of data points is 4 points, the types of friction models of viscous friction, static friction and stabilizing action are determined.

[0100] Description of Reference Numerals

[0101] 1 Processing simulation system

[0102] 10 Processing simulation device

[0103] 11. Control Unit

[0104] 110 Friction model generation unit

[0105] 1101 Model determination department

[0106] 1102 Coefficient calculation unit

[0107] 111 Simulation Execution Department

[0108] 12 Display unit

[0109] 13 Input section

[0110] 20 Storage device.< / f> < / v> < / v> < / f> < / v> < / f> < / v>

Claims

1. A processing simulation device, characterized in that: The processing simulation device comprises: a friction model generating unit that generates a friction model of the machine tool; and a simulation execution unit that uses the friction model to simulate and reproduce the behavior of the machine tool, The friction model generating unit comprises: a model determination unit that determines the type of the friction model according to the number of data points of torque and speed; and a coefficient calculation unit that calculates coefficients in the friction model based on the determined type of the friction model and the torque and speed data of the data points, The friction model generation unit reflects the generated friction model on the simulation execution unit.

2. The processing simulation device according to claim 1, characterized in that: The friction model includes stabilization effects in specific directions.

3. The processing simulation device according to claim 2, characterized in that: When the number of data points is 1, the model determination unit determines the type of friction model for viscous friction; when the number of data points is 2 and the speeds of the 2 points are in the same moving direction, the model determination unit determines the type of friction model for the viscous friction and the static friction; when the number of data points is 2 and the speeds of the 2 points are in opposite moving directions, the model determination unit determines the type of friction model for the viscous friction and the stabilizing action; and when the number of data points is 4, the model determination unit determines the types of friction models for the viscous friction, the static friction, and the stabilizing action.

4. A machining simulation method for making a computer function as a machining simulation device, characterized in that: The processing simulation method comprises the following steps: A friction model generating step, generating a friction model of the machine tool; and a simulation execution step, using the friction model to simulate and reproduce the behavior of the machine tool, The friction model generation step comprises the following steps: A model determination step, determining the type of the friction model according to the number of torque and speed data points; and a coefficient calculation step of calculating coefficients in the friction model based on the determined type of the friction model and the torque and speed data of the data points, In the friction model generating step, the generated friction model is reflected in the simulation executing step.

5. The machining simulation method according to claim 4, characterized in that: The friction model includes stabilization effects in specific directions.

6. The machining simulation method according to claim 5, characterized in that: In the model determination step, when the number of data points is 1 point, the type of friction model of viscous friction is determined; when the number of data points is 2 points and the speeds of the 2 points are in the same moving direction, the type of friction model of viscous friction and static friction is determined; when the number of data points is 2 points and the speeds of the 2 points are in opposite moving directions, the type of friction model of viscous friction and the stabilizing action is determined; when the number of data points is 4 points, the types of friction models of viscous friction, static friction and stabilizing action are determined.

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