Jet flow modulation method and system for suppressing bearing roller grinding chatter

Abstract

This application provides a jet modulation suppression method and system for chatter suppression in bearing roller grinding. The method includes: performing time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain a target suppression frequency set; obtaining an adaptive modulation signal sequence based on the frequencies and corresponding phases in the target suppression frequency set; obtaining a desired valve opening area sequence for controlling the jet switching valve based on the principle of canceling out the target damping force and the jet impact force; compensating for the inertial delay of the driving voltage at the previous time stamp based on the desired valve opening area sequence to obtain a compensated driving voltage; obtaining a jet duty cycle sequence based on the compensated driving voltage sequence, and then obtaining the control signal for controlling the jet switching valve. This application achieves precise cancellation of the hydrodynamic forces opposite to the chatter by real-time sensing of chatter characteristics and utilizing active pulse jets, improving machining stability and consistency, and is suitable for the mass precision manufacturing of high-performance bearing rollers.

Description

Technical Field

[0001] This application relates to the fields of precision machining and bearing manufacturing technology, specifically to a jet modulation suppression method and system for bearing roller grinding chatter. Background Technology

[0002] The final performance of bearing rollers is highly dependent on the surface quality of their final machining stage. During fine grinding and ultra-fine machining, chatter is very likely to occur between the grinding wheel and the workpiece. This microscopic periodic vibration will form a specific waviness on the roller surface, which is the main source of vibration and noise during bearing operation and will significantly shorten its contact fatigue life.

[0003] Existing chatter suppression technologies, such as optimizing machine tool structure and adding passive dampers, are all passive vibration suppression techniques. These methods are costly, inflexible, and cannot adaptively adjust to changing chatter modes during machining. While reducing grinding depth or workpiece speed can help avoid chatter zones, this comes at the cost of machining efficiency and cannot fundamentally eliminate chatter energy. Furthermore, existing cooling systems are merely passive supply units with fixed flow and pressure parameters, offering no interaction with the dynamic vibration state of the machining system. Even when using pulsed jets, their parameters are preset and cannot respond in real-time to changes in chatter frequency and amplitude during machining.

[0004] For processes like bearing roller crown grinding, where contact stress varies with position, existing methods struggle to effectively suppress time-varying chatter while maintaining profile accuracy. Therefore, there is an urgent need for an active suppression method capable of real-time sensing of chatter characteristics and adaptively modulating jet impact force. Summary of the Invention

[0005] This application addresses the shortcomings of existing technologies by providing a jet modulation suppression method and system for bearing roller grinding chatter.

[0006] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0007] A jet modulation method for suppressing chatter during bearing roller grinding includes the following steps: Time-frequency analysis was performed on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set; Based on the frequencies in the target suppression frequency set, the reference signal sequence is merged to obtain an adaptive modulation signal sequence; wherein, the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set; Based on the principle of canceling out the target vibration damping force and the jet impact force, the desired valve opening area sequence for controlling the jet switching valve is obtained; wherein, the target vibration damping force is obtained by using the adaptive modulation signal sequence as weight; the jet impact force is obtained based on the valve opening area combined with the jet impact force model; Based on the compensated driving voltage sequence, the jet duty cycle sequence is obtained; wherein, the compensated driving voltage is obtained by compensating for the inertial delay of the driving voltage at the previous time point based on the desired valve opening area sequence. Based on the jet duty cycle sequence, a control signal sequence for the on / off valve of the jet is obtained to suppress chatter in bearing roller grinding.

[0008] As one possible implementation, the step of performing time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set includes the following steps: The vibration acceleration data during the bearing roller machining process is preprocessed to obtain a preprocessed vibration acceleration sequence; Time-frequency analysis was performed on the preprocessed vibration acceleration sequence to extract the amplitude spectrum and obtain the time-frequency matrix; Based on the time frame of the time spectrum matrix, frequency points in the time spectrum matrix that satisfy the energy prominence condition and the growth trend condition are extracted to obtain a candidate flutter frequency set; wherein, the energy prominence condition is that the amplitude spectrum exceeds the product of the average amplitude spectrum and a preset coefficient, and the growth trend condition is that the growth rate of the amplitude spectrum is higher than a preset growth rate threshold. The frequencies of elements in the candidate flutter frequency set that match the preset feature frequency library are selected to obtain the target suppression frequency set.

[0009] As one possible implementation, the step of merging the reference signal sequence based on the frequencies in the target suppression frequency set to obtain an adaptive modulation signal sequence includes the following steps: Extract the frequency and phase information from the target suppression frequency set to obtain the instantaneous phase sequence and instantaneous amplitude sequence; Based on the frequencies in the target suppression frequency set and their corresponding phases in the instantaneous phase sequence, a sinusoidal and out-of-phase reference signal sequence is generated. Based on the instantaneous amplitude sequence, and combined with a discrete proportional-integral controller, an adaptive gain sequence is obtained; Based on the adaptive gain sequence, the reference signal is adjusted to obtain a gain reference signal sequence; The signals corresponding to the target suppression frequency concentration frequencies in the gain reference signal sequence are added together to obtain the synthesized control signal sequence; The synthesized control signal sequence is normalized to obtain an adaptive modulation signal sequence.

[0010] As one possible implementation, extracting frequency and phase information from the target suppression frequency set to obtain an instantaneous phase sequence and an instantaneous amplitude sequence includes the following steps: Based on the timestamps of the target suppression frequency set, the corresponding data segments in the vibration acceleration data of the preprocessed bearing roller machining process are extracted to obtain the filter sequence; Based on the timestamp, narrowband pass filters with different timestamps are constructed using the frequencies in the target suppression frequency set as the center frequencies. The sequence to be filtered is input into the narrowband pass filter corresponding to the timestamp for filtering processing to obtain a time-domain signal sequence; The instantaneous frequency and instantaneous phase information are extracted from the time-domain signal sequence to obtain the analytical signal sequence; Based on the analytical signal sequence, the instantaneous phase sequence and instantaneous amplitude sequence are calculated.

[0011] As one possible implementation, the compensated driving voltage sequence is represented as follows:

[0012] in, Represents the timestamp in the compensated drive voltage sequence The driving voltage at that time Indicates the gain of the switching valve. This represents the time constant of the valve switching. This indicates the sampling period of the jet modulation. Represents a timestamp. Represents the timestamp in the expected valve opening area sequence The expected valve opening area at that time Represents the timestamp in the compensated drive voltage sequence The driving voltage at that time.

[0013] As one possible implementation, obtaining the jet duty cycle sequence based on the compensated driving voltage sequence includes the following steps: Based on the cumulative grinding time and the gain attenuation principle, the gain attenuation coefficient is obtained; wherein, the longer the cumulative grinding time, the smaller the gain attenuation coefficient. Using the gain attenuation coefficient as a multiplier, the compensation driving voltage sequence is adjusted to obtain the gain driving voltage sequence; The gain drive voltage sequence is divided into units based on the pulse width modulation period of the switching valve of the jet, and the average voltage value is calculated cycle by cycle to obtain the average control drive voltage sequence. Based on the rated voltage of the jet-driven switching valve, each element in the average control drive voltage sequence is limited to between 0 and 1 to obtain the amplitude limiting control drive voltage sequence. Based on the limiting control driving voltage sequence, the jet duty cycle sequence is obtained.

[0014] As one possible implementation, the jet duty cycle sequence is further corrected based on the axial position of the bearing rollers to obtain a corrected jet duty cycle sequence, which is represented as follows:

[0015] in, Indicates the th in the modified jet duty cycle sequence Duty cycle of each pulse width modulation period Indicates the first step in the limiting control drive voltage sequence. Voltage of one pulse width modulation cycle, Indicates the first The axial position of the bearing rollers during each pulse width modulation cycle. express Pressure gain coefficient at the location, Indicates the offset duty cycle. Represents the modulation depth coefficient. .

[0016] A jet modulation suppression system for chatter in bearing roller grinding, used to implement the method described in any one of the above, the system comprising a suppression frequency module, a modulation signal module, a force cancellation module, a duty cycle module, and a switching valve control module; The suppression frequency module is used to perform time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set; The modulation signal module is used to merge a reference signal sequence based on the frequencies in the target suppression frequency set to obtain an adaptive modulation signal sequence; wherein the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set. The force cancellation module is used to obtain the desired valve opening area sequence for controlling the jet switching valve based on the principle of canceling out the target vibration damping force and the jet impact force; wherein, the target vibration damping force is obtained by using the adaptive modulation signal sequence as weight; the jet impact force is obtained based on the valve opening area combined with the jet impact force model; The duty cycle module is used to obtain a jet duty cycle sequence based on the compensated drive voltage sequence; wherein the compensated drive voltage is obtained by compensating for the inertial delay of the drive voltage at the previous time point based on the desired valve opening area sequence. The switching valve control module is used to obtain a control signal sequence for the switching valve that controls the jet based on the jet duty cycle sequence in order to suppress chatter in bearing roller grinding.

[0017] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any one of the preceding methods.

[0018] An apparatus includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor, when executing the computer program, implements the method described in any one of the preceding methods.

[0019] This application, employing the above technical solutions, achieves significant technical effects: the jet modulation suppression method for chatter in bearing roller grinding proposed in this application achieves a qualitative leap from passive cooling to active vibration suppression by linking vibration sensing, inverse decision-making, and jet execution in a closed loop. Specifically, this application first performs time-frequency analysis on the preprocessed vibration acceleration data to accurately identify chatter characteristics and generate a target suppression frequency set. Based on this, a reference signal is generated based on this frequency set and its corresponding phase and merged into an adaptive modulation signal sequence, achieving inverse decision-making with the same frequency and opposite phase as the chatter. Furthermore, the target vibration suppression force is obtained by using the adaptive modulation signal sequence as weights, and based on the principle that the target vibration suppression force cancels out the jet impact force, the desired valve opening area sequence for controlling the jet switching valve is derived. This design not only establishes a precise mapping from electrical signals to fluid dynamics, but more importantly, transforms the process fluid from a passive cooling medium into an active vibration suppression actuator. Meanwhile, addressing the inherent inertial delay problem of high-speed switching valves, this method compensates for the driving voltage of the previous timestamp based on the desired valve opening area sequence, obtaining a compensated driving voltage sequence, which in turn generates a jet duty cycle sequence. This effectively solves the engineering problem of actuator response speed not keeping up with high-frequency chatter, ensuring high-fidelity transmission of control commands. Finally, the control signal sequence obtained based on the jet duty cycle sequence drives the switching valve to generate a pulsed jet that is in opposite phase to the chatter. This complete active jet modulation mechanism can significantly reduce the surface waviness and specific-order roundness error of rollers without changing the machine tool structure, making it particularly suitable for processes such as bearing roller crown grinding, achieving a leapfrog improvement in processing stability and consistency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating an embodiment of the method of this application; Figure 2 This is a time-domain waveform diagram of vibration acceleration during the grinding process in the unsuppressed stage and the suppressed stage in an embodiment of the method of this application; Figure 3 This is a time-correspondence diagram of vibration displacement and jet switch valve duty cycle in an embodiment of the method of this application; Figure 4 This is an overall schematic diagram of an embodiment of the system in this application. Detailed Implementation

[0022] The present application will be further described in detail below with reference to the embodiments. The following embodiments are explanations of the present application, but the present application is not limited to the following embodiments. Unless otherwise specified, the features in the following embodiments can be combined with each other.

[0023] To facilitate understanding of the technical solution of this application, the relevant technical terms will be explained below.

[0024] (1) Jet: During the bearing roller grinding process, the fluid ejected from the coolant pipeline through the nozzle is used to impact the grinding contact area. After being modulated by PWM, the jet forms a pulse jet. The pulse jet impacts the grinding contact area, generating fluid impact force, which actively suppresses chatter during the bearing roller grinding process.

[0025] (2) Control cycle and PWM cycle (pulse width modulation cycle): The control cycle refers to the time required to complete one sensing, decision-making, and PWM execution cycle. In this application, one control cycle is equal to the duration of the preset raw data acquisition window. That is, the method of this application is a sensing-decision-execution cycle within one control cycle. The PWM cycle refers to the carrier cycle of the pulse width modulation signal, which is the time required for the high-speed switching valve to complete one complete switching action. Different PWM cycles can have different duty cycles, thereby changing the average impact force of the jet. One control cycle contains multiple PWM cycles.

[0026] Example 1: In one embodiment, a jet modulation suppression method for bearing roller grinding chatter, such as... Figure 1 As shown, it includes the following steps: S100: Perform time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set; S200: Based on the frequencies in the target suppression frequency set, the reference signal sequence is merged to obtain an adaptive modulation signal sequence; wherein, the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set; S300: Based on the principle of canceling out the target vibration damping force and the jet impact force, the desired valve opening area sequence for controlling the jet switching valve is obtained; wherein, the target vibration damping force is obtained by using the adaptive modulation signal sequence as weight; the jet impact force is obtained based on the valve opening area combined with the jet impact force model; S400: Based on the compensated driving voltage sequence, the jet duty cycle sequence is obtained; wherein, the compensated driving voltage is obtained by compensating for the inertial delay of the driving voltage of the previous time stamp based on the desired valve area; S500: Based on the jet duty cycle sequence, a control signal sequence for the switching valve that controls the jet is obtained to suppress chatter in bearing roller grinding.

[0027] In another embodiment, in S100, time-frequency analysis is performed on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set, including the following steps: S110: Preprocess the vibration acceleration data during the bearing roller machining process to obtain a preprocessed vibration acceleration sequence, specifically including: S111: Based on preset acquisition duration / one control cycle The raw vibration acceleration data during the bearing roller machining process were collected.

[0028] A high-frequency response piezoelectric accelerometer is installed at a critical location near the workpiece or grinding wheel axis on the grinding machine spindle box. This accelerometer is used to collect simulated vibration acceleration signals perpendicular to the normal direction of the contact point between the bearing roller and the grinding wheel during machining; that is, the raw vibration acceleration data (unit: ...). Or g).

[0029] The main components involved in bearing roller machining are: workpiece rotation frequency (<50Hz), mid-frequency ripple frequency (200~800Hz), machine tool-workpiece system natural frequency, and high-frequency unrelated noise (>3000Hz). The raw vibration acceleration data collected by the sensor is a linear superposition of all frequency components.

[0030] S112: The original vibration acceleration data is processed through an anti-aliasing low-pass filter to obtain low-pass vibration acceleration data.

[0031] The cutoff frequency of the low-pass filter is set to at least 2.5 times the highest frequency of interest, for example, 5000Hz. The frequencies of interest refer to the vibration frequency components that may cause quality problems such as surface waviness and roundness errors in the bearing rollers during the grinding process, and need to be actively identified and suppressed. The frequencies of interest can be a frequency band or a specific set of frequencies, and the highest frequency of interest is the largest frequency in the frequency band of interest.

[0032] The main chatter frequency band is 50Hz~3000Hz, which is the core range for chatter detection and analysis. Frequencies below 50Hz are usually the fundamental frequency of workpiece rotation and are not of concern in this application. Frequencies above 3000Hz are considered irrelevant high-frequency noise. Therefore, the specific hazardous frequency band is between 500Hz and 3000Hz. In this embodiment, the frequencies of concern mainly include: Polygonal error band , represented as: ,in, It is a positive number greater than 1, that is This corresponds to roundness errors of 2nd, 3rd, 4th order, etc. This indicates the rotational frequency of the bearing rollers. The polygonal error band corresponds to the roundness error order commonly seen in roller machining, and these errors directly affect the bearing's operating accuracy and noise.

[0033] Mid-frequency ripple band , The mid-frequency ripple band is the key ripple frequency band that causes noise during bearing operation and requires special attention.

[0034] Machine tool-workpiece (bearing roller) system natural frequency The system's natural frequency The system's natural frequency was obtained through preliminary experiments, such as a tapping test. It manifests as several dominant mode frequencies The flutter corresponding to these frequencies is often excited by structural resonance, and is highly concentrated and destructive.

[0035] S113: High-speed data acquisition card with a sampling frequency of not less than 20kHz. The low-pass vibration acceleration data is sampled to obtain a discrete-time low-pass vibration acceleration sequence. ,in, , This refers to the sampling point number, i.e., the sequence index.

[0036] It is well known to those skilled in the art that, regardless of the sequence index, all sequences can be identified by timestamps.

[0037] S114: The low-pass vibration acceleration sequence is processed by a zero-phase digital bandpass filter to obtain a preprocessed vibration acceleration sequence.

[0038] To focus on the most sensitive frequency band in bearing roller machining, and to filter out low-frequency machine tool resonance and high-frequency irrelevant noise, the low-pass vibration acceleration sequence was analyzed. A zero-phase digital bandpass filter is applied for processing, for example, a fourth-order Butterworth filter. The passband frequency of the bandpass filter is... ,For example The passband frequency is set based on the chatter characteristics of the roller machining process. After processing by a bandpass filter, frequencies below a certain threshold can be filtered out. The fundamental frequency of the workpiece rotation and its lower-order harmonics (usually corresponding to roundness error, which can be handled separately through subsequent analysis) and some structural natural frequencies are analyzed, and frequencies higher than these are filtered out. Non-flutter-related high-frequency noise.

[0039] S120: Perform time-frequency analysis on the preprocessed vibration acceleration sequence, extract the amplitude spectrum, and obtain the time-frequency matrix.

[0040] Commonly used methods for time-frequency analysis include: Short Time Fourier Transform (STFT), Wavelet Transform (WT), Hilbert-Huang Transform (HHT), Wigner-Ville Distribution (WVD), Choi-Williams Distribution (CWD), S-Transform, Local Mean Decomposition (LMD), and Constant Q Transform (CQT).

[0041] Flutter signals are time-varying. Directly performing time-frequency analysis on the preprocessed vibration acceleration sequence will result in the loss of time information. Therefore, it is necessary to preprocess the vibration acceleration sequence into a one-dimensional discrete-time series. The frequency spectrum is divided into multiple small segments, each representing a window, and analyzed separately. To capture the changes in flutter frequency and amplitude over time, this embodiment employs Short-Time Fourier Transform (STFT) for time-frequency analysis to obtain the time-spectrum matrix moments. The time-spectrum matrix moments are then... It is expressed as follows:

[0042] in, Representing the time-frequency matrix moments At time frame m and frequency index k (frequency is...) The amplitude spectrum of the complex spectrum value. Indicates the time frame index. , This indicates the total number of time frames. Indicates frequency index, The corresponding actual frequency is , , Indicates frequency resolution. , The sampling frequency of the vibration acceleration sequence. This indicates the window length and the number of sample points contained in each window. This indicates the index of the sample point within the window. . This represents the frame shift (HopSize), which is the sample interval between the start points of adjacent windows. To allow windows to overlap and ensure temporal continuity, typically... or . Represents the first in the sequence of window functions There are window functions, and the length of the window function sequence is... . This represents the twitch factor of the short-time Fourier transform, used to map a time-domain signal to the frequency domain and extract the complex value of that frequency component. Represents the imaginary unit. .

[0043] S130: Extract the time spectrum matrix based on the time frame of the time spectrum matrix. The frequency points in the mid-amplitude spectrum that satisfy the energy prominence condition and the growth trend condition are used to obtain the candidate flutter frequency set. .

[0044] Specifically, in each time frame, the scan time spectral matrix is... Identify the time-spectrum matrix moments All possible flutter frequency candidates, a single frequency point To be considered a flutter candidate, both the energy prominence condition and the growth trend condition must be met simultaneously.

[0045] The energy protrusion condition is: Significantly higher than historical background noise (mean amplitude spectrum) ) and the average noise level of the current frame (global average of amplitude spectrum) This is reflected in the time-frequency matrix. If the amplitude spectrum exceeds the product of the average amplitude spectrum and a preset coefficient, then the energy prominence condition is expressed as follows:

[0046] in, This represents the sensitivity coefficient, used to control the stringency of flutter detection. It is a preset constant, typically ranging from 2.0 to 3.0. The larger the sensitivity coefficient, the stricter the detection criteria; only frequencies with significantly prominent amplitudes are identified as flutter candidates. Indicates the first The global average amplitude spectrum of each time frame is the average amplitude spectrum of all frequency points in that frame. It is used as an estimate of the noise level of the current frame to avoid misclassifying all frequencies as flutter when the overall vibration is enhanced.

[0047] The growth trend condition is: amplitude spectrum The recent upward trend indicates that this frequency component may be being activated, manifested as an amplitude spectrum growth rate exceeding a preset growth rate threshold. The growth trend condition is then expressed as follows: or

[0048] in, This represents the instantaneous growth rate threshold, for example, 0.1. This indicates the amplitude ratio threshold, for example, 1.3. This indicates a short time lag, such as 5 frames.

[0049] Wherein, the average amplitude spectrum The background noise basis is determined through learning. Specifically, during the stable, chatter-free initial grinding stage, such as the first few workpieces or a few seconds after machining begins, a signal is acquired and processed to obtain the corresponding time-spectrum matrix. And then according to Calculate the average amplitude spectrum of this signal. This serves as an estimate of the background noise.

[0050]

[0051] in, Indicated in frequency index The average amplitude spectrum at a given frequency represents the baseline amplitude (average value) of the background noise. It is a vector containing an estimate of the noise level at each frequency point. This represents the total number of time frames used to calculate the stable phase of background noise, such as the number of frames acquired in the first few workpieces or within a few seconds after the start of processing.

[0052] S140: Select the frequencies of elements in the candidate flutter frequency set that match the preset feature frequency library to obtain the target suppression frequency set.

[0053] The characteristic frequency library represents the set of frequency ranges and characteristic frequencies during bearing roller machining, i.e., the frequencies of interest, and is preset. If the candidate chatter frequency set... The frequency of a certain element It falls within any characteristic frequency band in the characteristic frequency library, or If the deviation from a certain characteristic frequency in the characteristic frequency library is within a preset frequency deviation threshold, then the frequency will be... Classification target suppresses flutter frequency The preset frequency deviation threshold can be the frequency resolution. Several targets suppress flutter frequencies. Composition of target suppression frequency set , .

[0054] By performing time-frequency analysis on vibration acceleration data, the flutter frequency is accurately extracted and a target suppression frequency set is generated. Compared with traditional broadband suppression methods, this application can accurately lock the specific flutter mode that is most harmful to the accuracy and life of bearing rollers, achieve directional suppression, and effectively reduce the specific order roundness error and waviness of the roller surface.

[0055] In another embodiment, in S200, a reference signal sequence is merged based on the frequencies in the target suppression frequency set to obtain an adaptive modulation signal sequence; wherein the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set, including the following steps: S210: Extract the frequency and phase information from the target suppression frequency set to obtain the instantaneous phase sequence and instantaneous amplitude sequence; S211: Based on the timestamps in the target suppression frequency set, extract the corresponding data segments from the preprocessed vibration acceleration sequence to obtain the sequence to be filtered. That is, based on the timestamps in the target suppression frequency set, extract the data segments with the corresponding timestamps from the preprocessed vibration acceleration sequence.

[0056] S212: Based on timestamps, using the target suppression frequency set frequency in Using the center frequency, narrow bandpass filters with different timestamps are constructed, such as second-order bandpass filters with a bandwidth of 10Hz.

[0057] S213: Input the sequence to be filtered into the narrowband pass filter corresponding to the timestamp for filtering processing to obtain the approximate time-domain signal of the frequency component, and then obtain the time-domain signal sequence. .

[0058] S214: Extract the instantaneous frequency and phase information from the time-domain signal sequence to obtain the analytical signal sequence. This allows for the analysis of the time-domain signal sequence. The Hilbert transform is applied to extract instantaneous frequency and phase information in the analytical signal sequence. It is expressed as follows:

[0059] in, Represents the Hilbert transform. Represents the imaginary unit. (This refers to a time-domain signal sequence.) Convert to its corresponding analytic signal sequence An analytic signal is a complex signal, with its real part being the original signal and its imaginary part being the Hilbert transform of the original signal. Using an analytic signal, the instantaneous amplitude and instantaneous phase can be uniquely and precisely defined, avoiding the time-frequency resolution trade-off problem caused by directly using an STFT.

[0060] S215: From analyzing signal sequences Direct calculation of instantaneous amplitude sequence and instantaneous phase sequence Among them, instantaneous amplitude for Instantaneous phase for , Represents the arctangent function in the four quadrants. This indicates removing the imaginary part of a complex number. This indicates taking the real part of a complex number. The current frame... The corresponding center time Substituting the values, we can obtain the instantaneous amplitude at that moment. and instantaneous phase .

[0061] For the target suppression frequency set Each target suppresses flutter frequency It is necessary to accurately calculate its instantaneous amplitude. and instantaneous phase This is used to generate an inverting control signal. This embodiment employs a bandpass filter combined with Hilbert transform, achieving higher accuracy than directly taking the amplitude and phase from the STFT.

[0062] S220: Based on timestamps and target suppression frequency sets Each frequency component Instantaneous phase sequence Zhongyu The corresponding phase generates a sinusoidal and out-of-phase reference signal sequence. This reference signal sequence is then represented as follows:

[0063] in, This represents the reference signal in the reference signal sequence. Indicates a single target frequency A sinusoidal and out-of-phase reference signal. Represents a timestamp. This represents the preset reference gain coefficient, a preset constant used to normalize the signal amplitude to a suitable range (e.g., ...). ), representing the basic suppression strength of the system. Represents the target suppression frequency concentrated timestamp frequency, Represents the relationship between frequency and instantaneous phase sequence. The corresponding phase. By increasing Achieving a 180-degree phase reversal is key to counteracting vibration. The sinusoidal inverse reference signal is theoretically completely out of phase with the sensed chatter displacement signal in the time domain. When chatter causes the grinding wheel to approach the workpiece, the jet is instructed by the reference sinusoidal inverse signal to generate a force that "pushes" it away.

[0064] S230: Based on the instantaneous amplitude sequence, combined with a discrete proportional-integral controller, an adaptive gain sequence is obtained.

[0065] To ensure that the control intensity is proportional to the severity (amplitude) of the flutter, a factor is introduced based on the instantaneous amplitude. Adaptive gain with feedback adjustment The adaptive gain is calculated using a discrete PI controller. Therefore, the adaptive gain sequence is expressed as follows:

[0066] in, Indicates frequency The adaptive gain (dimensionless). Represents the proportional gain coefficient (unit: ). This determines the response speed to the current amplitude. Represents the timestamp in the instantaneous amplitude sequence The amplitude, or frequency, of the time. The corresponding instantaneous amplitude (unit is the same as vibration acceleration, such as...) ). Indicates the integral gain coefficient (unit: ). This is used to eliminate steady-state errors and continuously suppress residual vibrations. This represents discrete summation, which is the integral over the historical amplitude error.

[0067] S240: Based on the adaptive gain sequence, the reference signal is adjusted to obtain a gain reference signal sequence.

[0068] Adaptive gain Reference signal used for inverting sinusoidal signals This yields a sinusoidal, inverted gain reference signal. The gain reference signal is then expressed as: Adaptive gain The amplitude of the control signal changes with the instantaneous amplitude of the chatter. The integral term increases linearly with the increase of the amplitude, achieving energy-efficient control that provides strong suppression for large vibrations and weak suppression for small vibrations. The integral term ensures continuous suppression of steady-state micro-flutter.

[0069] S250: Add the signals in the gain reference signal sequence that correspond to the target suppression frequency concentration frequency to obtain a synthetic control signal sequence.

[0070] When multiple flutter frequencies exist simultaneously, i.e., the target suppression frequency set... When two or more elements exist, their disturbances to the grinding process are independent of each other. According to the superposition principle of linear systems, to simultaneously suppress these chattering vibrations, the modulation signals corresponding to multiple chattering frequencies need to be synthesized into a single overall control signal. Therefore, the synthesized control signal... , represented as: Synthesized control signals This represents the total continuous-time modulated signal after synthesis, and represents the instantaneous damping force intensity required by all flutter frequencies.

[0071] S260: Normalize the synthesized control signal sequence to obtain an adaptive modulation signal sequence.

[0072] To prevent the synthesized signal amplitude from exceeding the actuator's linear range, it needs to be limited and normalized. The resulting adaptive modulation signal is then... , means as follows:

[0073] in, This indicates the maximum allowable control voltage amplitude of the system.

[0074] This step aims to convert the real-time sensed flutter characteristics into precise control signals that can drive the actuator (high-speed switching valve).

[0075] In another embodiment, in S300, based on the principle of canceling out the target damping force and the jet impact force, the desired valve opening area sequence for controlling the jet switching valve is obtained, including the following steps: S310: Using the adaptive modulation signal sequence as weights, the target vibration damping force sequence is obtained.

[0076] Adaptive modulation signal Essentially, it represents the desired relative damping force, which requires the adaptive modulation signal. Target vibration damping force mapped as jet impact force command Then the target vibration damping force Represented as: ,in, The force scaling factor (N) is determined empirically or experimentally, representing the maximum theoretical damping force that can be generated when the adaptive modulation signal is at full amplitude.

[0077] S320: Based on the valve opening area and combined with the jet impact force model, the jet impact force sequence is obtained.

[0078] High-speed switching valves are key actuators for achieving precise pulsed jets. The ultimate goal of modulating pulsed jets is to generate a dynamic fluid impact force at the grinding point that is opposite to the chatter displacement. Based on the fluid momentum theorem and combined with the jet impact force model, the instantaneous fluid impact force generated by the jet impacting the workpiece-grinding wheel wedge region from the nozzle outlet is determined. Then the fluid impact force It is expressed as follows:

[0079] in, This indicates the density of the coolant / lubricant ( ). Indicates transient volumetric flow rate According to the flow formula: , The flow coefficient is determined by the shape of the valve orifice. This indicates the pressure of the liquid supply system, which is a preset constant value. This represents environmental pressure, which can be determined using the flow formula: That is, the flow rate is directly proportional to the valve opening area. Indicates the average velocity at the jet exit ( ), , This indicates the nozzle exit area. This represents the angle between the jet impact direction and the normal to the workpiece surface (impact angle), which is usually set to an acute angle, such as 15 to 30 degrees, to optimize penetration in the wedge zone. This represents the impact efficiency factor. The momentum loss caused by jet diffusion and air entrainment was taken into account.

[0080] S330: Based on the principle of canceling out the target damping force sequence and the jet impact force sequence, the desired valve opening area sequence is obtained, then the target damping force... Impact force of jet If they are equal in size but opposite in direction, then .

[0081] By combining the formulas, we can deduce the force required to achieve the target. The required valve opening area is the expected valve opening area. , means as follows:

[0082] Considering It also depends on In practice, a lookup table method or closed-loop pressure / flow control can be used to achieve this. linear tracking .

[0083] Based on the principle of canceling out the target damping force and the jet impact force, a precise mapping from electrical signals to fluid dynamics was established. The traditional passive coolant was transformed into an active, pulse force actuator that is opposite to the flutter force. Through fluid dynamics, the flutter energy was directly canceled out in the grinding contact area, thus suppressing the occurrence of vibration at its source.

[0084] In another embodiment, in S400, a jet duty cycle sequence is obtained based on the compensated drive voltage sequence; wherein the compensated drive voltage is obtained by compensating for the inertial delay of the drive voltage at the previous timestamp based on the desired valve area, including the following steps: S410: Based on the desired valve area, compensate for the inertial delay of the driving voltage at the previous timestamp to obtain a compensated driving voltage sequence.

[0085] High-speed switching valves are key actuators for achieving precise pulse jets. High-speed switching valves have mechanical inertia (the valve core needs time to move), electrical / magnetic hysteresis delay, and dead time. If not compensated, the actual jet pulse will be delayed and distorted in shape, resulting in a phase misalignment between the damping force and the chatter.

[0086] First, simplifying the opening / closing process of a typical two-position two-way high-speed switching valve (such as a piezoelectric actuator) into a first-order inertial element with a pure delay, the response of the valve opening area to the driving voltage in the Laplace domain is expressed as:

[0087] in, This represents the effective flow area of ​​the high-speed switching valve after the Laplace transform. Represents the Laplace transform of the driving voltage. Indicates the gain of the high-speed switching valve ( ), which is the steady-state current-carrying area corresponding to unit voltage. The time constant (in seconds) represents the opening / closing response time of a high-speed switching valve. For high-frequency valves, Typically, it takes 1 to 5 milliseconds. This indicates the dead time or delay (in seconds) of a high-speed switching valve, including circuit delay and mechanical delay of valve spool activation. This represents a Laplace variable.

[0088] Ignore delay To perform separate compensation, the first-order inertial part of the above formula is discretized as follows: ,in, This indicates the sampling period of the jet modulation, which is the same as the PWM period. This represents a timestamp. The formula means: Current valve opening area = Contribution of current voltage + Residual area from the previous timestamp. Therefore, given a desired valve opening area... Next, calculate the actual voltage that needs to be applied, which is the compensation drive voltage. , means as follows:

[0089] In this embodiment, a simplified approximation is used, when At that time, Approximately After algebraic transformation, the compensation driving voltage is obtained. , means as follows:

[0090] The compensation drive voltage is an approximate inverse of the valve's first-order model and can be used to pre-compensate for its inertia (manifested as response time). Furthermore, the delay in high-speed valve switching can be compensated by simply issuing control commands a corresponding time in advance. This mechanism effectively solves the engineering problem of actuator response speed failing to keep up with high-frequency chatter (3000Hz), ensuring high-fidelity transmission of control commands and avoiding phase misalignment of the damping force caused by slow valve movement.

[0091] S420: Based on the cumulative grinding time and combined with the gain attenuation principle, the gain attenuation coefficient is obtained.

[0092] The wear condition of the grinding wheel is a key factor affecting chatter stability. Therefore, chatter suppression needs to be linked to the grinding wheel dressing device, resetting or adjusting control parameters based on dressing events. A cumulative grinding time after the current dressing event can be defined. Or the cumulative number of workpieces ground Related gain decay function Cumulative grinding time The longer or the cumulative number of workpieces ground The more, the more the gain attenuation coefficient The smaller it is.

[0093] In this embodiment, the gain decay function and the cumulative grinding time If related, then the gain attenuation function , represented as: ,in, It is the initial high gain after dressing, to cope with the chattering period of sharp grinding wheels. It is the attenuation constant. It is the baseline gain during the stable period.

[0094] S430: Using the gain attenuation coefficient as a multiplier, adjust the compensation drive voltage sequence to obtain the gain drive voltage sequence. As a global multiplier, it functions to compensate for the driving voltage. The gain driving voltage sequence is obtained above. Represented as: .

[0095] Thus, in the initial post-treatment phase, the method of this application pre-suppresses potential chatter with greater force, and as the grinding wheel stabilizes, the intensity of intervention is gradually reduced to conserve energy and fluid.

[0096] S440: Divide the gain drive voltage sequence into units of PWM cycles, and calculate the average voltage value for each cycle to obtain the average control drive voltage sequence. .

[0097] The data acquisition period is an integer multiple of the PWM control period, so that one data acquisition can be divided into integer multiples of the PWM control period.

[0098] This application requires a unified control period. Within (e.g., 1 ms), the closed-loop calculation from signal input to PWM command output is completed. Control cycle. It is the PWM carrier period (e.g., multiples of 0.1ms) PWM cycle number is ,but ,and .

[0099] S450: Based on the rated voltage of the high-speed switching valve of the jet, each element in the average control drive voltage sequence is limited to between 0 and 1 to obtain the amplitude limiting control drive voltage sequence.

[0100] Each high-speed switching valve has a rated operating voltage. For example, 24V DC, this is the standard voltage that should be applied when the valve is operating normally. It can be based on the rated operating voltage. Average control drive voltage sequence Limiting the voltage to between 0 and 1, the limiting drive voltage is obtained. Represented as: .

[0101] S460: Based on the limiting control drive voltage sequence, the jet duty cycle sequence is obtained.

[0102] High-speed switching valves are digital actuators that can only accept open or close commands. Therefore, the limiting drive voltage needs to be converted into a pulse width modulation (PWM) signal. This determines the jet duty cycle of the high-speed switching valve controlling the jet. , means as follows:

[0103] in, Indicates the first Duty cycle of each PWM cycle. Indicates the bias duty cycle, such as 0.3 or This indicates the percentage of normally open flow required to ensure base cooling and lubrication when there is no chatter or the suppression signal is zero. This represents the modulation depth coefficient, for example, 0.2 or... This indicates the limiting drive voltage. The moduloable duty cycle range must meet the following requirements. .

[0104] In another embodiment, since the contact stress varies with the workpiece axial position x (corresponding to the change in roller diameter) when grinding a conical or convex roller, the contact pressure between the grinding wheel and the workpiece increases significantly when grinding its large diameter area (such as the convex apex), making it more prone to chatter. Therefore, it is necessary to dynamically adjust the vibration suppression intensity according to the roller axial position x.

[0105] A pressure gain coefficient along the roller axial position x is established in advance through process experiments or mechanical simulations. The mapping allows us to obtain the corresponding pressure gain coefficient by acquiring the axial position x along the roller. , It is a normalized scalar field. For example, at the center of the roller, i.e., the point of highest convexity. Place, At both ends of the roller The corrected jet duty cycle , means as follows:

[0106] in, Indicates the first The axial position of the bearing roller during each PWM cycle corresponds to the change in roller diameter. This represents the pressure gain coefficient, which automatically enhances the intensity of the vibration-damping jet in areas of high grinding stress. In high contact stress zones during grinding, the intensity of the pulsed jet is automatically increased, with higher peak flow rates or longer on-time, thus enabling on-demand allocation of vibration-damping resources.

[0107] By introducing the desired valve opening area sequence as an intermediate variable, the control algorithm can be easily coupled with process information such as roller axial position (crown) and grinding wheel wear state. In the roller crown area with high grinding contact stress, the jet intensity is automatically enhanced, realizing the on-demand allocation of vibration suppression resources. While ensuring the chatter suppression effect, it avoids excessive intervention on the roller surface quality.

[0108] In another embodiment, in S500, a control signal sequence for a switching valve controlling the jet is obtained based on the jet duty cycle sequence to suppress chatter in bearing roller grinding.

[0109] Based on the jet duty cycle Or the corrected jet duty cycle This yields the control signal for the switching valve corresponding to the PWM cycle. . use A high-speed switching valve in the coolant pipeline modulates the continuous jet into a pulse jet that is opposite to the chatter, precisely impacting the grinding contact area of ​​the bearing rollers and actively counteracting the chatter energy through hydrodynamics.

[0110] On / off valve control signal It is a binary sequence with the corrected jet duty cycle. For example, in the first PWM cycles Internal, control signals for switching valves It is expressed as follows:

[0111] in, This represents the relative time within a PWM cycle. This step converts the abstract duty cycle into a physically executable binary switching signal. . Directly drives the opening and closing of high-speed switching valves, when When the value is 1, it indicates a high level, and the corresponding valve is open. When the value is 0, it indicates a low level, and the corresponding valve is closed.

[0112] This application achieves high cost-effectiveness and ease of promotion by adding a high-speed switching valve to the existing grinding machine coolant pipeline and integrating software algorithms, without requiring large-scale modification of the machine tool's rigid structure.

[0113] like Figures 2-3 As shown, Figure 2 This is a time-domain waveform diagram of vibration acceleration during the unsuppressed and suppressed stages of the grinding process. The time unit is seconds, and the vibration acceleration unit is... It can be seen that before active pulsed jet intervention, the flutter increased sharply and continued to worsen. After active pulsed jet intervention, the flutter decreased rapidly and stabilized at a lower range. Moreover, it can be seen that the rate of decrease of flutter was greater than the rate of increase. Figure 3 The graph shows the time correspondence between vibration displacement and the duty cycle of the jet switching valve. The time unit is seconds. It can be seen that the greater the vibration displacement, that is, the greater the chatter, the greater the duty cycle of the switching valve. In other words, the greater the chatter, the more jets are used to suppress it.

[0114] Example 2: A jet modulation suppression system for chatter during bearing roller grinding, such as Figure 4 As shown, the system used to implement the method in any of the above embodiments includes a frequency suppression module 100, a modulation signal module 200, a force cancellation module 300, a duty cycle module 400, and a switching valve control module 500. The suppression frequency module 100 is used to perform time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain a target suppression frequency set; The modulation signal module 200 is used to merge a reference signal sequence based on the frequencies in the target suppression frequency set to obtain an adaptive modulation signal sequence; wherein the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set. The force cancellation module 300 is used to obtain the desired valve opening area sequence for controlling the jet switching valve based on the principle of canceling out the target vibration damping force and the jet impact force; wherein, the target vibration damping force is obtained by using the adaptive modulation signal sequence as weight; the jet impact force is obtained based on the valve opening area combined with the jet impact force model; The duty cycle module 400 is used to obtain a jet duty cycle sequence based on the compensated drive voltage sequence; wherein the compensated drive voltage is obtained by compensating for the inertial delay of the drive voltage at the previous time stamp based on the desired valve opening area sequence. The switching valve control module 500 is used to obtain a control signal sequence for the switching valve that controls the jet based on the jet duty cycle sequence in order to suppress chatter in bearing roller grinding.

[0115] Any changes and modifications made without departing from the spirit and scope of this application, and all equivalent technical solutions, also fall within the scope of this application.

[0116] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0117] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0118] This application is described with reference to flowchart illustrations and / or block diagrams of the method, terminal device (system), and computer program product according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0119] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0121] It should be noted that: The phrase "an embodiment" or "an embodiment" used in this specification means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of this application. Therefore, the phrase "an embodiment" or "an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0122] Furthermore, it should be noted that the shapes and names of the parts and components described in the specific embodiments described in this specification may differ. All equivalent or simple variations made to the structure, features, and principles described in this application are included within the scope of protection of this application. Those skilled in the art to which this application pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, as long as they do not deviate from the structure of this application or exceed the scope defined by the claims, all of which should fall within the scope of protection of this application.

Claims

1. A jet modulation suppression method for chatter in bearing roller grinding, characterized in that, Includes the following steps: Time-frequency analysis was performed on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set; Based on the frequencies in the target suppression frequency set, the reference signal sequence is merged to obtain an adaptive modulation signal sequence; wherein, the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set; Based on the principle of canceling out the target vibration damping force and the jet impact force, the desired valve opening area sequence for controlling the jet switching valve is obtained; wherein, the target vibration damping force is obtained by using the adaptive modulation signal sequence as weight; the jet impact force is obtained based on the valve opening area combined with the jet impact force model; Based on the compensated driving voltage sequence, the jet duty cycle sequence is obtained; wherein, the compensated driving voltage is obtained by compensating for the inertial delay of the driving voltage at the previous time point based on the desired valve opening area sequence. Based on the jet duty cycle sequence, a control signal sequence for the on / off valve of the jet is obtained to suppress chatter in bearing roller grinding.

2. The method according to claim 1, characterized in that, The step of performing time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set includes the following steps: The vibration acceleration data during the bearing roller machining process is preprocessed to obtain a preprocessed vibration acceleration sequence; Time-frequency analysis was performed on the preprocessed vibration acceleration sequence to extract the amplitude spectrum and obtain the time-frequency matrix; Based on the time frame of the time spectrum matrix, frequency points in the time spectrum matrix that satisfy the energy prominence condition and the growth trend condition are extracted to obtain a candidate flutter frequency set; wherein, the energy prominence condition is that the amplitude spectrum exceeds the product of the average amplitude spectrum and a preset coefficient, and the growth trend condition is that the growth rate of the amplitude spectrum is higher than a preset growth rate threshold. The frequencies of elements in the candidate flutter frequency set that match the preset feature frequency library are selected to obtain the target suppression frequency set.

3. The method according to claim 1, characterized in that, The step of merging the reference signal sequence based on the frequencies in the target suppression frequency set to obtain the adaptive modulation signal sequence includes the following steps: Extract the frequency and phase information from the target suppression frequency set to obtain the instantaneous phase sequence and instantaneous amplitude sequence; Based on the frequencies in the target suppression frequency set and their corresponding phases in the instantaneous phase sequence, a sinusoidal and out-of-phase reference signal sequence is generated. Based on the instantaneous amplitude sequence, and combined with a discrete proportional-integral controller, an adaptive gain sequence is obtained; Based on the adaptive gain sequence, the reference signal is adjusted to obtain a gain reference signal sequence; The signals corresponding to the target suppression frequency concentration frequencies in the gain reference signal sequence are added together to obtain the synthesized control signal sequence; The synthesized control signal sequence is normalized to obtain an adaptive modulation signal sequence.

4. The method according to claim 3, characterized in that, The step of extracting frequency and phase information from the target suppression frequency set to obtain instantaneous phase and instantaneous amplitude sequences includes the following steps: Based on the timestamps of the target suppression frequency set, the corresponding data segments in the vibration acceleration data of the preprocessed bearing roller machining process are extracted to obtain the filter sequence; Based on the timestamp, narrowband pass filters with different timestamps are constructed using the frequencies in the target suppression frequency set as the center frequencies. The sequence to be filtered is input into the narrowband pass filter corresponding to the timestamp for filtering processing to obtain a time-domain signal sequence; The instantaneous frequency and instantaneous phase information are extracted from the time-domain signal sequence to obtain the analytical signal sequence; Based on the analytical signal sequence, the instantaneous phase sequence and instantaneous amplitude sequence are calculated.

5. The method according to claim 1, characterized in that, The compensation driving voltage sequence is represented as follows: in, Represents the timestamp in the compensated drive voltage sequence The driving voltage at that time, Indicates the gain of the switching valve. This represents the time constant of the valve. This indicates the sampling period of the jet modulation. Represents a timestamp. Represents the timestamp in the expected valve opening area sequence The expected valve opening area at that time Represents the timestamp in the compensated drive voltage sequence The driving voltage at that time.

6. The method according to claim 1, characterized in that, The process of obtaining the jet duty cycle sequence based on the compensated driving voltage sequence includes the following steps: Based on the cumulative grinding time and the gain attenuation principle, the gain attenuation coefficient is obtained; wherein, the longer the cumulative grinding time, the smaller the gain attenuation coefficient. Using the gain attenuation coefficient as a multiplier, the compensation driving voltage sequence is adjusted to obtain the gain driving voltage sequence; The gain drive voltage sequence is divided into units based on the pulse width modulation period of the switching valve of the jet, and the average voltage value is calculated cycle by cycle to obtain the average control drive voltage sequence. Based on the rated voltage of the jet-driven switching valve, each element in the average control drive voltage sequence is limited to between 0 and 1 to obtain the amplitude limiting control drive voltage sequence. Based on the limiting control driving voltage sequence, the jet duty cycle sequence is obtained.

7. The method according to claim 6, characterized in that, It also includes correcting the jet duty cycle sequence based on the axial position of the bearing rollers to obtain a corrected jet duty cycle sequence, which is represented as follows: in, Indicates the th in the modified jet duty cycle sequence Duty cycle of each pulse width modulation period Indicates the first step in the limiting control drive voltage sequence. Voltage of one pulse width modulation cycle, Indicates the first The axial position of the bearing rollers during each pulse width modulation cycle. express Pressure gain coefficient at the location, Indicates the offset duty cycle. Indicates the modulation depth coefficient. .

8. A jet modulation suppression system for chatter in bearing roller grinding, used to implement the method as described in any one of claims 1 to 7, characterized in that, The system includes a frequency suppression module, a modulation signal module, a force cancellation module, a duty cycle module, and a switching valve control module; The suppression frequency module is used to perform time-frequency analysis on the vibration acceleration data during the pre-processed bearing roller machining process to obtain the target suppression frequency set; The modulation signal module is used to merge a reference signal sequence based on the frequencies in the target suppression frequency set to obtain an adaptive modulation signal sequence; wherein the reference signal sequence is generated based on the frequencies and corresponding phases of the target suppression frequency set. The force cancellation module is used to obtain the desired valve opening area sequence for controlling the jet switching valve based on the principle of canceling out the target vibration damping force and the jet impact force; wherein, the target vibration damping force is obtained by using the adaptive modulation signal sequence as weight; the jet impact force is obtained based on the valve opening area combined with the jet impact force model; The duty cycle module is used to obtain a jet duty cycle sequence based on the compensated drive voltage sequence; wherein the compensated drive voltage is obtained by compensating for the inertial delay of the drive voltage at the previous time point based on the desired valve opening area sequence. The switching valve control module is used to obtain a control signal sequence for the switching valve that controls the jet based on the jet duty cycle sequence in order to suppress chatter in bearing roller grinding.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

10. A jet modulation suppression device for chatter in bearing roller grinding, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

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