Processing simulation device and processing simulation method

Abstract

A friction model of a machine tool can be easily generated without trial running the machine tool and even without expertise. A machining simulation device is provided with a friction model generation section that generates a friction model of a machine tool, and a simulation execution section that simulates reproduction of behavior of the machine tool using the friction model, the friction model generation section including a model decision section that decides a kind of the friction model in accordance with a data point number of torque and speed, and a coefficient calculation section that calculates a coefficient in the friction model based on the decided kind of the friction model and data of torque and speed of the data point number, the friction model generation section reflecting the generated friction model to the simulation execution section.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a machining simulation device that generates a friction model of a machine tool using machining simulation and a machining simulation method. BACKGROUND

[0002] For example, a technology of a machining simulation device that determines a transfer characteristic of a machine tool, and is able to estimate position information of a tool from a position command of a machining program and the transfer characteristic of the machine tool is known. For example, refer to Patent Literature 1.

[0003] In addition, a technology of a control device that, for one or more axes of a machine, at least acquires a position command and a position feedback, estimates a coefficient of a friction model at the time of position control from a difference between the acquired position command and the position feedback, that is, a position deviation, and performs position control taking into account friction is known. For example, refer to Patent Literature 2.

[0004] In addition, a technology that generates a friction model by linearly approximating a friction force and a motor speed acquired by controlling an actual machine such as an XY stage or an industrial robot using a least squares method or the like, and controls the actual machine with high precision using the friction force calculated from the friction model as a compensation value is known. For example, refer to Patent Literature 3.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

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

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

[0009] Patent Literature 3: Japanese Patent Application Publication No. 2006-146572 SUMMARY

[0010] PROBLEMS TO BE SOLVED BY THE INVENTION

[0011] However, in the technology described in Patent Literature 1, if it is desired to take into account friction as a transfer characteristic of a machine tool that constitutes a mechanical simulation section, it is necessary to analyze operation data of the machine tool to generate a friction model.

[0012] In addition, in the technologies described in Patent Literatures 1 to 3, generation of a friction model requires specialized knowledge, and it is necessary to operate the machine tool for the purpose of generating a friction model only depending on the situation.

[0013] Therefore, it is desirable to generate a friction model of a machine tool without operating the machine tool and even without specialized knowledge.

[0014] MEANS FOR SOLVING THE PROBLEMS

[0015] One embodiment of the machining simulation device of the present disclosure includes a friction model generation section that generates a friction model of a machine tool, and a simulation execution section that simulates reproduction of behavior of the machine tool using the friction model, the friction model generation section including a model determination section that determines a kind of the friction model in accordance with a number of data points of torque and speed, and a coefficient calculation section that calculates a coefficient in the friction model based on the determined kind of the friction model and data of torque and speed of the number of data points, the friction model generation section reflecting the generated friction model to the simulation execution section.

[0016] One embodiment of the machining simulation method of the present disclosure is a machining simulation method for causing a computer to function as a machining simulation device, the machining simulation method including a friction model generation step of generating a friction model of a machine tool, and a simulation execution step of simulating reproduction of behavior of the machine tool using the friction model, the friction model generation step including a model determination step of determining a kind of the friction model in accordance with a number of data points of torque and speed, and a coefficient calculation step of calculating a coefficient in the friction model based on the determined kind of the friction model and data of torque and speed of the number of data points, the friction model generation step reflecting the generated friction model to the simulation execution step. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a diagram showing an example of a functional block structure of a machining simulation system of one embodiment.

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

[0019] Figure 2B FIG. 3 is a diagram showing an example of a relationship between a number of data points and a kind of a friction model. Figure 2A

[0020] Figure 3A

[0021] Figure 3B FIG. 7 is a diagram showing an example of a screen when the number of data points is 2 points (opposite).

[0022] Figure 3C FIG. 8 is a diagram showing an example of a screen when the number of data points is 4 points.

[0023] Figure 3D

[0024] Figure 3E ​​​is a drawing showing one example of a screen in a case where the number of data points is 5 points.

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

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

[0027] <One Embodiment>

[0028] First, an outline of the present embodiment will be described. In the present embodiment, the kind of the friction model is decided according to the number of data points of torque and speed, coefficients in the friction model are calculated based on the decided kind of the friction model and data of torque and speed of the data points, and the generated friction model is reflected to the simulation execution section.

[0029] According to the present embodiment, therefore, it is possible to easily generate the friction model of the machine tool without trial running the machine tool and even without specialized knowledge.

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

[0031] Figure 1 is a drawing showing one example of a functional block structure of the machining simulation system according to one embodiment.

[0032] As shown in Figure 1 , the machining simulation system 1 has 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 such as a LAN (Local Area Network), the Internet, or the like, which is not shown, and communicate with each other. In this case, the machining simulation device 10 and the storage device 20 are provided with a communication section, which is not shown, for communicating with each other through the above connection. Alternatively, the machining simulation device 10 and the storage device 20 can be directly connected to each other via a connection interface, which is not shown.

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

[0035] The storage device 20 is a data server or the like, and stores data of load and speed of a motor included in a machine tool (not shown) which is a simulation target. In addition, in a case where the machine tool, which is not shown, has a plurality of motors, the storage device 20 can store data of load and speed for each motor.

[0036] Additionally, the load and speed data could be, for example, the torque applied by the motor to the feed axis of the machine tool (not shown) being controlled (simulated) at a fixed speed, or the load torque measured by a torque sensor and the data of the feed axis's movement speed. However, in the case of a linear motor, torque is replaced by force.

[0037] <Processing Simulation Device 10>

[0038] The machining simulation device 10 is a computer or similar device known to those skilled in the art, and includes a control unit 11, a display unit 12, and an input unit 13. Furthermore, the control unit 11 includes a friction model generation unit 110 and a simulation execution unit 111. Additionally, 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. As will be described later, the display unit 12 displays an image of a friction model generated by the friction model generation unit 110.

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

[0041] <Control Department 11>

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

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

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

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

[0046] Furthermore, when explaining the processing of the model determination unit 1101, the relationship between the number of data points and the type of friction model will be explained first.

[0047] Figure 2A This is a graph illustrating an example of the relationship between the number of data points and the types of friction models. Figure 2B It means to represent using charts and graphs. Figure 2A A diagram illustrating an example of a relationship.

[0048] like Figure 2A As shown, the friction model is a function that takes velocity v as input and outputs load f. It becomes a more complex function as the number of data points increases, thus improving the accuracy of friction reproduction. That is, as... Figure 2B As shown, when the number of data points for load and speed data obtained from storage device 20 is 1 (e.g., load and speed data E1, etc.), the friction model becomes a linear function of the coefficient a shown by the dashed line, i.e., only the type of viscous friction. Furthermore, the load f output by the friction model is "friction force" in a linear system and "friction torque" in a rotating system.

[0049] Furthermore, when the number of data points for load and speed data obtained from storage device 20 is, for example, two points (e.g., E1 and E2) of load and speed data in the same direction of movement 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 these two points, as shown by the dashed line; that is, a combination of viscous friction and static friction. Additionally, sgn(v) is a sign function where "1" is positive and "-1" is negative. That is, static friction is friction whose sign is determined by the direction of movement and whose magnitude is independent of speed. Furthermore, the friction model with two (equal) data points can also have continuity near speed v = 0 to stabilize the calculation.

[0050] In addition, in a case where the number of data points of the load and speed data acquired from the storage device 20 is, for example, 2 points (opposite) of the load and speed data El, E3, and the like, which are in a relationship opposite to the moving direction of the feed shaft of the machine tool (not shown), the friction model becomes a kind in which the coefficient a and the intercept g of the data passing through the 2 points are a first function, that is, a kind in which the viscous friction and the stable action are combined. Further, the intercept g is the stable action force in a specific direction, that is, the gravity.

[0051] In addition, in a case where the load and speed data acquired from the storage device 20 is 2 points or more on the positive side and 2 points or more on the negative side, that is, a total of 4 points or more (for example, the load and speed data El to E4, and the like) in the moving direction of the feed shaft of the machine tool (not shown), the friction model becomes a kind in which the viscous friction, the static friction, and the stable action are combined, as indicated by the solid line, in which the load f = al · v + bl on the positive side, the load f = a2 · v + b2 on the negative side, and the load f = (bl + b2) / 2 when the speed v is “0”.

[0052] According to the above, the model determination section 1101 determines the kind of the friction model based on the number of data points of the load and speed data acquired from the storage device 20 (and the relationship of the moving direction of the feed shaft of the machine tool (not shown) between the 2 points of the data in a case where the number of data points is 2 points).

[0053] The coefficient calculation section 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 kind of the friction model determined.

[0054] Specifically, the coefficient calculation section 1102, for example, when the kind of the friction model in which the number of data points is 1 point is determined by the model determination section 1101, calculates f / v from the load and speed data of 1 point acquired from the storage device 20, and calculates the coefficient a. The friction model generation section 110 displays the result related to the generated friction model on the screen 200 shown in FIG. 8. Figure 3A The screen 200 shown in FIG. 8 is displayed on the display section 12.

[0055] Figure 3AThe illustrated screen 200 has a data display area 210 that displays the data of the load and the speed acquired from the storage device 20, a coefficient display area 220 that displays the coefficient a calculated by the coefficient calculation section 1102, and a model display area 230 that displays the generated friction model. That is, in the data display area 210, as the data of the load and the speed at 1 point, for example, the value 50 mm / s of the feed speed and the value 9.799% of the load (TCMD) are displayed, respectively. Further, an "add row" button that adds the data of the load and the speed can also be arranged in the data display area 210. In addition, in the coefficient display area 220, the value 0.196% / (mm / s) of the load / feed speed as the coefficient a is displayed. Further, in the case where the number of data points is 1 point, since there is no static friction (intercept b • sgn(v)) and stable external force (intercept g), "0" is displayed. In addition, in the model display area 230, the generated friction model is displayed.

[0056] In addition, when the kind of the friction model in which the number of data points is 2 points (same) is decided by the model decision section 1101, the coefficient calculation section 1102 calculates the coefficient a and the intercept b • sgn(v) from the data of the load and the speed at 2 points from the storage device 20. The friction model generation section 110 displays the result related to the generated friction model in the coefficient display area 220 and the model display area 230 of the screen 200. Figure 3B The illustrated screen 200 is displayed on the display section 12.

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

[0058] In addition, when the kind of the friction model in which the number of data points is 2 points (opposite) is decided by the model decision section 1101, the coefficient calculation section 1102 calculates the coefficient a and the intercept g from the data of the load and the speed at 2 points from the storage device 20. The friction model generation section 110 displays the result related to the generated friction model in the coefficient display area 220 and the model display area 230 of the screen 200. Figure 3C The illustrated screen 200 is displayed on the display section 12.

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

[0060] Furthermore, when the model determination unit 1101 determines the type of friction model with 4 data points, the coefficient calculation unit 1102 calculates coefficients a1, a2 and intercepts b1, b2 based on the 4-point load and speed data from the storage device 20. The friction model generation unit 110 then uses the results related to the generated friction model to... Figure 3D The image 200 shown is displayed on the display unit 12.

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

[0062] Furthermore, when the model determination unit 1101 determines a friction model with four or more data points, the coefficient calculation unit 1102 calculates coefficients a1, a2 and intercepts b1, b2 based on the load and velocity data at the four points, as follows. First, the coefficient calculation unit 1102 uses... Figure 3D Data A(v) in screen 200 A f A ), data B (v B f B ), calculate coefficient a1=(f A -f B ) / (v A -v B) and intercept b1=f A -a1·v A Additionally, the coefficient calculation unit 1102 uses data C(v) C f C ), data D(v D f D ) Calculate the intermediate coefficient a2 = (f C -f D ) / (v C -v D ) and intercept b2=f C -a2·v C Then, the coefficient calculation unit 1102 uses the calculated intercepts b1 and b2 to calculate the load f = (b1 + b2) / 2 when the velocity v is “0” as a stable external force.

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

[0064] Specifically, such as Figure 3E As shown, for example, when there are 5 data points for load and speed data, that is, 3 data points on the positive side of speed v, the coefficient calculation unit 1102 calculates the coefficient a1 and intercept b1 for the 3 load and speed data points on the positive side of speed v, for example, by applying the least squares method. That is, the coefficient calculation unit 1102 calculates the coefficient a1 = Σ i＝1,N (v i - <v> )·(f i - <f>) / Σ i＝1,N (v i - <v>) 2 , and the intercept b1= -0.0001 <f> -a1· <v>Here, N denotes the number of data points on the positive side of the velocity v. In addition, <v> 、 <f>N values of the speed v on the positive side and average values of the load f.

[0065] In addition, the coefficient calculating section 1102 calculates the coefficient a2 and the intercept b2 with respect to the data of the load and the speed of the 2 points on the negative side of the speed v, as in the case of the coefficient a1 and the intercept b1. Figure 3D

[0066] The friction model generating section 110 displays the result related to the generated friction model in the screen 200 shown in FIG. 20 in the display section 12. Further, in the screen 200 shown in FIG. 20, the data of the load and the speed of the 3 points on the positive side of the speed v are displayed, but the coefficient calculating section 1102 also calculates the coefficient a2 and the intercept b2 in the case where the data of the load and the speed of 3 points or more on the negative side of the speed v exist. Figure 3E Figure 3E

[0067] Figure 3E The screen 200 shown in FIG. 20 displays the values of the feed speeds 50 mm / s, 35 mm / s, 20 mm / s, -20 mm / s, -50 mm / s and the values of the loads 9.799%, 9.807%, 9.467%, 6.331%, 5.905% of the data of the 5 points of the load and the speed of the feed axis of the machine tool not shown, respectively, in the data display area 210. The screen 200 displays the value of the coefficient al of the positive direction (the positive side), that is, the value of the load / feed speed 0.011% / (mm / s), the value of the static friction (the intercept bl) 9.304%, the value of the coefficient a2 of the negative direction (the negative side), that is, the value of the load / feed speed 0.014% / (mm / s), and the value of the static friction (the 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 executing section 111 simulates the behavior of the machine tool not shown using the friction model generated by the friction model generating section 110.

[0069] Specifically, the simulation executing section 111, for example, uses the friction model generated by the friction model generating section 110 and a publicly known simulation method to simulate the position / behavior of each axis of the machine tool not shown, with the command position of the axis generated in accordance with the machining program as input.

[0070] Thus, the machining simulation device 10 is able to simulate the friction in the position / behavior of each axis of the machine tool not shown using the friction model in which the kind and the coefficients are determined, with the load input / output with respect to the speed.

[0071] <Simulation processing of machining simulation device>

[0072] Next, the flow of the simulation processing of the machining simulation device 10 will be described with reference to FIG. 21. Figure 4 The flow of the simulation processing of the machining simulation device 10 will be described with reference to FIG. 21.​​​

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

[0074] In step Sll, the model determining section 1101 determines a friction model in accordance with the number of data points of the load and speed data in the machine tool (not shown) acquired from the storage device 20.

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

[0076] In step S13, the simulation executing section 111 simulates the position / behavior of each axis of the 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 of one embodiment can easily generate a friction model of a machine tool without trial running the machine tool and even without specialized knowledge. In other words, a user can consider friction as a transfer characteristic of a machine tool even without specialized knowledge.

[0078] In addition, the machining simulation device 10 can generate a friction model with only one point of data at a minimum, and thus does not need to trial run a machine tool (not shown) for the purpose of generating a friction model only.

[0079] <Modification Example 1>

[0080] In one embodiment, the machining simulation device 10 and the storage device 20 are different devices from each other, but are not limited thereto. For example, the storage device 20 can be included in the machining simulation device 10.

[0081] <Modification Example 2>

[0082] In addition, for example, in the above-described embodiment, the model shown by Formula 1 is defined as the friction model in the case of four or more points, but is not limited thereto. For example, as the friction model in the case of four or more points, a linear function constituted by a viscous friction of f=a-v+b-sgn(v)+g, a static friction, and a stable force can be used. In this case, the coefficient a, the intercept b-sgn(v), and the intercept g can be calculated using the coefficients al, a2, and the intercept bl, b2 of the friction model shown by Formula 2. Figure 2A Figure 2A

[0083] ​​Moreover, each function included in the processing simulation device 10 in an embodiment can be realized by hardware, software, or a combination thereof, respectively. Here, realization by software means realization by a computer reading and executing a program.

[0084] The program can be saved using various types of non-transitory computer readable medium and provided to a computer. The non-transitory computer readable medium includes various types of tangible storage medium. Examples of the non-transitory computer readable medium include a magnetic recording medium (e.g., a floppy disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (e.g., a magneto-optical disk), a CD-ROM (Read Only Memory), a CD-R, a CD-R / W, a semiconductor memory (e.g., a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, a RAM). In addition, the program can be provided to a computer through various types of transitory computer readable medium. Examples of the transitory computer readable medium include an electric signal, an optical signal, and an electromagnetic wave. The transitory computer readable medium can provide the program to a computer via a wired communication path such as an electric wire and an optical fiber or a wireless communication path.

[0085] In addition, the steps of describing the program recorded in the recording medium of course include processing performed in a time series in the order, and also include processing performed in parallel or individually even if not necessarily in a time series. In addition, the steps of describing the program can also be implemented by cloud computing.

[0086] The present disclosure is described in detail, but the present disclosure is not limited to each of the above-described embodiments. These embodiments can be variously added, substituted, changed, partially deleted, and the like within a range not departing from the gist of the present disclosure, or within a range not departing from the gist of the present disclosure derived from the content described in the range of the patent to be claimed and equivalents thereof. In addition, these embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each action, the order of each processing is illustrated as an example, and is not limited thereto. In addition, the same applies to the case where numerical values or mathematical expressions are used in the description of the above-described embodiments.

[0087] With respect to the above-described embodiments and modified examples, the following notes are also disclosed.

[0088] (Note 1)

[0089] A processing simulation device (10) includes a friction model generation section (110) that generates a friction model of a machine tool, and a simulation execution section (111) that simulates a behavior of the machine tool using the friction model, the friction model generation section (110) includes a model determination section (1101) that determines a kind of the friction model according to a number of data points of torque and speed, and a coefficient calculation section (1102) that calculates a coefficient in the friction model based on the determined kind of the friction model and data of torque and speed of the number of data points, the friction model generation section (110) causes the generated friction model to be reflected to the simulation execution section (111).

[0090] (Note 2)

[0091] In the processing simulation device (10) of Note 1, the friction model includes a stable action to a specific direction.

[0092] (Note 3)

[0093] In the processing simulation device (10) of Note 2, in a case where the number of data points is one point, the model determination section (1101) determines a kind of the friction model of viscous friction, in a case where the number of data points is two points and speeds of two points are in the same moving direction, the model determination section (1101) determines a kind of the friction model of viscous friction and static friction, in a case where the number of data points is two points and speeds of two points are in opposite moving directions to each other, the model determination section (1101) determines a kind of the friction model of viscous friction and stable action, and in a case where the number of data points is four points, the model determination section (1101) determines a kind of the friction model of viscous friction, static friction and stable action.

[0094] (Note 4)

[0095] A processing simulation method is a processing simulation method for causing a computer to function as a processing simulation device (10), the processing simulation method includes a friction model generation step of generating a friction model of a machine tool, and a simulation execution step of simulating a behavior of the machine tool using the friction model, the friction model generation step includes a model determination step of determining a kind of the friction model according to a number of data points of torque and speed, and a coefficient calculation step of calculating a coefficient in the friction model based on the determined kind of the friction model and data of torque and speed of the number of data points, and in the friction model generation step, the generated friction model is caused to be reflected to the simulation execution step.

[0096] (Note 5)

[0097] In the processing simulation method of Note 4, the friction model includes a stable action to a specific direction.

[0098] (Note 6)

[0099] In the processing simulation method of the attached note 5, in the model deciding step, in the case of the data point number being 1 point, the kind of the friction model of the viscous friction is decided, in the case of the data point number being 2 points, the speed of 2 points being the same moving direction, the kind of the friction model of the viscous friction and the static friction is decided, in the case of the data point number being 2 points, the speed of 2 points being the opposite moving direction, the kind of the friction model of the viscous friction and the stable action is decided, in the case of the data point number being 4 points, the kind of the friction model of the viscous friction, the static friction and the stable action is decided.

[0100] Explanation of reference signs

[0101] 1 Processing simulation system

[0102] 10 Processing simulation device

[0103] 11 Control section

[0104] 110 Friction model generating section

[0105] 1101 Model deciding section

[0106] 1102 Coefficient calculating section

[0107] 111 Simulation executing section

[0108] 12 Display section

[0109] 13 Input section

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

Claims

1. A machining simulation device characterized by comprising: a friction model generating section that acquires data of torque and speed at a time when a feed axis of a machine tool is constant in speed from a storage device, and generates a friction model of the machine tool using the acquired data of torque and speed; and a simulation executing section that simulates a behavior of the machine tool using the friction model, the friction model generating section includes: a model determining section that determines a kind of the friction model in accordance with a number of data points of torque and speed; and a coefficient calculating section that calculates a coefficient in the friction model based on the determined kind of the friction model and data of torque and speed of the number of data points, the friction model generating section transmits the generated friction model to the simulation executing section, the simulation executing section simulates a position / behavior of each axis of the machine tool using the generated friction model.

2. The machining simulation device according to claim 1, characterized in that the friction model includes a stabilizing action to a specific direction.

3. The machining simulation device according to claim 2, characterized in that in a case where the number of data points is one point, the model determining section determines a kind of a friction model of viscous friction, in a case where the number of data points is two points and speeds of the two points are in the same moving direction, the model determining section determines a kind of a friction model of the viscous friction and static friction, in a case where the number of data points is two points and speeds of the two points are in opposite moving directions to each other, the model determining section determines a kind of a friction model of the viscous friction and the stabilizing action, in a case where the number of data points is four points, the model determining section determines a kind of a friction model of the viscous friction, the static friction and the stabilizing action.

4. A machining simulation method for causing a computer to function as a machining simulation device, characterized by comprising: a friction model generating step of acquiring data of torque and speed at a time when a feed axis of a machine tool is constant in speed from a storage device, and generating a friction model of the machine tool using the acquired data of torque and speed; and a simulation executing step of simulating a behavior of the machine tool using the friction model, the friction model generating step includes: a model determining step of determining a kind of the friction model in accordance with a number of data points of torque and speed; and a coefficient calculating step of calculating a coefficient in the friction model based on the determined kind of the friction model and data of torque and speed of the number of data points, in the friction model generating step, the generated friction model is transmitted to the simulation executing step, in the simulation executing step, a position / behavior of each axis of the machine tool is simulated using the generated friction model.

5. The machining simulation method according to claim 4, characterized in that the friction model includes a stabilizing action to a specific direction.

6. The machining simulation method according to claim 5, characterized in that in a case where the number of data points is one point, the model determining section determines a kind of a friction model of viscous friction, in a case where the number of data points is two points and speeds of the two points are in the same moving direction, the model determining section determines a kind of a friction model of the viscous friction and static friction, in a case where the number of data points is two points and speeds of the two points are in opposite moving directions to each other, the model determining section determines a kind of a friction model of the viscous friction and the stabilizing action, in a case where the number of data points is four points, the model determining section determines a kind of a friction model of the viscous friction, the static friction and the stabilizing action. ​ ​ ​ In the model determining step, in the case where the number of data points is one point, the kind of the friction model of the viscous friction is determined, in the case where the number of data points is two points and the speeds of the two points are in the same moving direction, the kind of the friction model of the viscous friction and the static friction is determined, in the case where the number of data points is two points and the speeds of the two points are in opposite moving directions, the kind of the friction model of the viscous friction and the stable action is determined, and in the case where the number of data points is four points, the kind of the friction model of the viscous friction, the static friction and the stable action is determined.

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