Processing system, processing method, and program

Abstract

This processing system is provided with: an acquisition unit, a first calculation unit (processing surface shape calculation unit), a second calculation unit (setting value calculation unit), and an output unit. The acquisition unit acquires processing data obtained during workpiece processing performed by a tool included in a processing machine. The first calculation unit calculates shape data related to a processing shape of the workpiece, on the basis of the processing data acquired by the acquisition unit. The second calculation unit calculates a setting value of repeated control on the processing machine, on the basis of the shape data calculated by the first calculation unit. The output unit outputs the setting value calculated by the second calculation unit to a repetition control unit for exercising the repeated control.

Description

Processing system, processing method and program

[0001] The present disclosure generally relates to a processing system, a processing method, and a program, and more particularly to a processing system, a processing method, and a program for a processing machine that processes an object.

[0002] Japanese Patent Application Laid-Open No. 2003-144222 discloses a servo control device that automatically adjusts servo characteristics including learning control.

[0003] JP 2017-84104 A

[0004] Considering the problem of vibrations that may occur during machining of an object due to inappropriate machining conditions in the machining machine or wear / deterioration of the tools of the machining machine, further improvement in the machining quality of the object (e.g., the quality of the machined surface shape) may be desired.

[0005] A machining system according to one aspect of the present disclosure includes an acquisition unit, a first calculation unit, a second calculation unit, and an output unit. The acquisition unit acquires machining data obtained during machining of an object using a tool of a machining machine. The first calculation unit calculates shape data related to the machined shape of the object based on the machining data acquired by the acquisition unit. The second calculation unit calculates repetitive control setting values ​​for the machining machine based on the shape data calculated by the first calculation unit. The output unit outputs the setting values ​​calculated by the second calculation unit to a repetitive control unit that performs the repetitive control.

[0006] A machining system according to one aspect of the present disclosure includes an acquisition unit, a first calculation unit, a second calculation unit, and an output unit. The acquisition unit acquires machining data obtained during machining of an object using a tool of a machining machine. The first calculation unit performs frequency analysis based on the rotational speed of a feed motor to calculate vibration characteristics of the rotational speed. The rotational speed of the feed motor is included in the machining data. The second calculation unit calculates a set value for repetitive control of the machining machine based on the vibration characteristics calculated by the first calculation unit. The output unit outputs the set value calculated by the second calculation unit to a repetitive control unit that performs the repetitive control.

[0007] A machining method according to one aspect of the present disclosure includes an acquisition step, a first calculation step, a second calculation step, and an output step. In the acquisition step, machining data obtained during machining of an object using a tool of a machining machine is acquired. In the first calculation step, shape data relating to the machined shape of the object is calculated based on the machining data acquired in the acquisition step. In the second calculation step, setting values ​​for repetitive control of the machining machine are calculated based on the shape data calculated in the first calculation step. In the output step, the setting values ​​calculated in the second calculation step are output to a repetitive control unit that performs the repetitive control.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the processing method.

[0009] According to the present disclosure, it is possible to improve the processing quality of an object.

[0010] FIG. 1 is a conceptual diagram illustrating a feed direction in a machining system according to an embodiment. FIG. 2 is a block diagram of the machining system. FIG. 3 is a block diagram illustrating motor control in the machining system. FIG. 4 is a block diagram of a repeat control unit in the machining system. FIG. 5 is a block diagram of a milling model in the machining system. FIG. 6 is a conceptual diagram of a tool and an object for explaining the milling model. FIG. 7 is a conceptual diagram for explaining machining data and shape data in the machining system. FIG. 8 is a graph illustrating an algorithm for a machining state detection process in the machining system. FIG. 9 is a graph showing shape data. FIG. 10 is a graph showing vibration characteristics of a machined shape. FIG. 11 is a graph showing machining data. FIG. 12 is a graph showing vibration characteristics of a motor rotation speed. FIG. 13 is a flowchart illustrating a machining method in the machining system. FIG. 14 is a graph showing machining data when repeat control is being executed in the machining system. FIG. 15 is a graph showing machining data when repeat control is not being executed in the machining system. Fig. 16 is a graph for explaining an algorithm for detecting a machining state in a machining system according to Modification 2. Fig. 17 is a block diagram of a repeat control unit in a machining system according to Modification 3. Fig. 18 is a block diagram of a repeat control unit in a machining system according to Modification 4. Fig. 19 is a block diagram of a machining system according to Modification 5. Fig. 20 is a block diagram of a machining system according to Modification 6.

[0011] (1) Overview Below, a processing system 2, a processing method, and a program according to embodiments and modifications will be described with reference to the drawings. Note that the following embodiment and modifications are merely one of various embodiments of the present disclosure. Furthermore, the following embodiment and modifications can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the configuration of each of the modifications below can be appropriately combined with the following embodiment or other modifications.

[0012] Furthermore, the numerical values, shapes, materials, components, the arrangement and connection of the components, steps, the order of steps, and the like shown in the following embodiments and modified examples are merely examples and are not intended to limit the present disclosure. Note that "rotation" described below means rotation on one's own axis.

[0013] An adjustment system 1 (see FIG. 2) according to one embodiment is applied to a processing system 2 (see FIG. 2). The processing system 2 is a system including a processing machine for processing an object (workpiece W1: see FIG. 1).

[0014] In the following embodiments, it is assumed that the processing machine is a machine tool that cuts an object with a tool T1 (see FIG. 1) such as an end mill, but the type of processing machine is not limited to a cutting machine tool.

[0015] 2 , the processing system 2 includes an adjustment system 1. The adjustment system 1 includes an adjustment unit 10.

[0016] As shown in FIG. 3 , the adjustment unit 10 includes an acquisition unit 101 , a machining surface shape calculation unit 102 (first calculation unit), a setting value calculation unit 104 (second calculation unit), and an output unit 105 .

[0017] The acquisition unit 101 acquires machining data obtained during machining of an object (workpiece W1) by a tool T1 of a processing machine.

[0018] In the following embodiments, the "machining data" includes the rotational position and rotational speed of the tool T1 or the feed motor (servo motor 330) for moving the object. In the following embodiments, the "machining data" further includes the rotational speed of the spindle drive motor for rotating the tool T1.

[0019] The machining surface shape calculation unit 102 (first calculation unit) calculates shape data relating to the machining shape of the object based on the machining data acquired by the acquisition unit 101. In the following embodiment, the "machining shape" of the object is assumed to be the shape of the machining surface W10 of the workpiece W1, and may also be referred to as the "machining surface shape."

[0020] The set value calculation unit 104 (second calculation unit) calculates the set values ​​of the repetitive control for the processing machine based on the shape data calculated by the processing surface shape calculation unit 102 (first calculation unit). In the following description, the set values ​​of the repetitive control may be simply referred to as "set values".

[0021] The output unit 105 outputs the set value calculated by the set value calculation unit 104 (second calculation unit) to a repetitive control unit 231 (see FIG. 3) that performs repetitive control.

[0022] According to the above-described configuration of the adjustment system 1 (or the machining system 2), the set values ​​of the repetitive control are automatically adjusted using the shape data of the machining surface W10, which enables real-time adjustment of the set values ​​and suppression of disturbance vibrations. This suppresses the occurrence of machining surface defects such as wavy shapes and improves the machining quality of the target object.

[0023] (2) Details The detailed configuration of the processing system 2 according to this embodiment will be described below.

[0024] (2.1) Overall Configuration The machining system 2 (see FIG. 2) is a system for machining a workpiece W1 (see FIG. 1), which is an object, and includes an adjustment system 1 and a machining machine. The adjustment system 1 is applied to the machining system 2 and has a function of calculating the machining shape of the object machined by the machining machine. The adjustment system 1 also has a function of calculating the setting values ​​for the repetitive control by the machining machine and outputting the calculated setting values ​​to the machining machine. In other words, the adjustment system 1 automatically sets the setting items for the repetitive control based on the machining shape of the object. In this embodiment, as an example, all of the multiple functions of the adjustment system 1 are provided in the PC 100 shown in FIG. 2.

[0025] (2.2) Configuration of the Processing Machine As shown in FIG. 1, for example, the processing machine is a machine tool that cuts a workpiece W1, which is an object fixed to a stage, with a tool T1 such as an end mill. Here, cutting of the object will be explained. For example, the processing machine is a processing machine capable of two-axis machining. However, the processing machine may be capable of only single-axis machining.

[0026] 1 is a workpiece W1 fixed to a stage to be machined. The material of the workpiece W1 is assumed to be metal, but is not limited to metal and may be resin or wood.

[0027] In the processing machine of this embodiment, the stage is moved in the X direction by one of the two servo motors 330, and moved in the Y direction by the other servo motor 330. During single-axis processing, the stage is moved in the feed direction D1 (X direction) by one servo motor 330.

[0028] During single-axis machining, the workpiece W1 can be fed only in a fixed direction (e.g., the X direction), so it can be cut in a fixed direction. During two-axis machining, the workpiece W1 can be fed in any direction, so it can be cut in any direction.

[0029] As shown in Fig. 2, the processing machine includes a servo amplifier 200, a linear encoder 310, a motor encoder 320, and a servo motor 330. Note that Figs. 1 and 2 show a processing machine capable of two-axis processing, and show two sets of servo amplifier 200, linear encoder 310, motor encoder 320, and servo motor 330. The two sets of servo amplifier 200, linear encoder 310, motor encoder 320, and servo motor 330 basically have the same functions except for the feed direction, and therefore the same reference numerals are used for each set.

[0030] The processing machine may include only one set of the servo amplifier 200, linear encoder 310, motor encoder 320, and servo motor 330. The processing machine may also include three or more sets of the servo amplifier 200, linear encoder 310, motor encoder 320, and servo motor 330, and may be capable of machining along three or more axes.

[0031] The servo amplifier 200 is a device for controlling the servo motor 330. The servo motor 330 is an example of a feed motor for moving the tool T1 or an object. The servo motor 330 is, for example, a rotary motor, but may also be a linear motor. The servo motor 330 moves the tool T1 and the object relatively by, for example, moving a stage to which the object is fixed.

[0032] As shown in FIG. 2, each set of servo amplifiers 200 includes a communication IF 210 , a communication control unit 220 , a motor controller 230 , AD converters 240 , 250 and 260 , and a PWM controller 270 .

[0033] The communication IF 210 is a communication interface such as a communication device for communicating with the PC 100. The communication control unit 220 controls communication with the PC 100 via the communication IF 210. For example, the communication control unit 220 transmits to the PC 100 processing data (motor control information) required to calculate the processing shape of an object processed by a processing machine. The communication IF 210 also outputs a control command output from the PC 100 to the motor controller 230. The control command includes, for example, information on a command speed (or target speed) and information on a set value for repetitive control.

[0034] The motor controller 230 controls the positioning of the servo motor 330 based on the control command output from the communication IF 210. The motor controller 230 controls the drive current flowing through the servo motor 330 by controlling the PWM controller 270, thereby rotating the servo motor 330. The motor controller 230 can also receive information indicating the rotational position and rotational speed of the servo motor 330 as feedback from the linear encoder 310, the motor encoder 320, and the servo motor 330 via the AD converters 240, 250, and 260. The motor controller 230 can further adjust the rotational position and rotational speed of the servo motor 330 using this feedback. In other words, the motor controller 230 has a function of feedback control (FB control) of the rotational position and rotational speed of the servo motor 330.

[0035] As shown in FIG. 3, the motor controller 230 includes a repetition control unit 231 , a speed control unit 232 , a torque control unit 233 , and a speed detection unit 234 .

[0036] The repetitive control unit 231 performs repetitive control based on the set value output from the output unit 105. In other words, the repetitive control unit 231 performs repetitive control based on the set value calculated by the set value calculation unit 104 (second calculation unit). The transfer function of the repetitive control unit 231 can be expressed by the following equation (1).

[0037]

[0038] In equation (1), "F(s)" is the transfer function of the signal processor 21 (see FIG. 4). Also, "T" in equation (1) is the repetition period (or learning period) of the learning controller 22 (see FIG. 4).

[0039] 4, the repetitive control unit 231 includes an adder and a controller 20. The controller 20 includes a signal processor 21 and a learning controller 22.

[0040] The signal processor 21 is a low-pass filter. That is, the signal processor 21 blocks predetermined frequency components based on the settings of the repetitive control. For example, the transfer function of the signal processor 21 can be expressed by the following equation (2). However, the transfer function of the signal processor 21 may be expressed by an equation other than equation (2).

[0041]

[0042] In equation (2), "τ" is a filter time constant, which is included in the set value of the repetitive control.

[0043] The learning controller 22 is a dead time element. The repetition period of the learning controller 22 is included in the set value of the repetition control.

[0044] The speed control unit 232 outputs a control signal for controlling the rotation speed of the servo motor 330 to the torque control unit 233 based on the control signal output from the repetitive control unit 231 .

[0045] The torque control unit 233 outputs a control signal for controlling the torque of the servo motor 330 to the PWM controller 270 based on the control signal output from the speed control unit 232 .

[0046] The speed detection unit 234 obtains information indicating the rotational position and rotational speed of the servo motor 330 as feedback from the linear encoder 310, the motor encoder 320, and the servo motor 330 via the AD converters 240, 250, and 260. Here, the information indicating the rotational position and rotational speed of the servo motor 330 is an example of processed data. In other words, the speed detection unit 234 obtains the processed data as feedback from the linear encoder 310, the motor encoder 320, and the servo motor 330 via the AD converters 240, 250, and 260. The speed detection unit 234 then outputs the obtained processed data to an adder disposed upstream of the repetitive control unit 231. The speed detection unit 234 also outputs the obtained processed data to the PC 100 via the communication control unit 220 and the communication IF 210.

[0047] (2.3) PC Configuration The PC 100 is assumed to be, for example, a notebook computer, but may also be a desktop computer. Software (referred to as "UI software 110" in FIG. 2) that displays a user interface (UI) for operating the servo amplifier 200 is installed in the PC 100, and the UI software 110 includes all of the multiple functions of the adjustment system 1.

[0048] As shown in FIG. 2, the PC 100 includes a UI software 110, a communication IF 120, and a display unit 130.

[0049] The communication IF 120 is a communication interface such as a communication device for communicating with the servo amplifier 200. The communication IF 120 receives machining data obtained during machining of an object by a tool T1 of the processing machine from the servo amplifier 200. The communication IF 120 also transmits to the servo amplifier 200 operation information corresponding to the operation content obtained via a UI for operating the servo amplifier 200, and a control command including a set value for repetitive control output from the adjustment unit 10.

[0050] The UI software 110 includes a screen display unit 111, a data storage unit 112, and an adjustment unit 10. The adjustment system 1 includes a computer system having one or more processors and a memory. At least some of the functions of the adjustment system 1 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0051] The screen display unit 111 is a functional component that displays a UI for operating the servo amplifier 200 on the display unit 130, which is, for example, a liquid crystal display. The data storage unit 112 stores information (motor control information) and the like received from the servo amplifier 200. The data storage unit 112 also stores data such as that shown in FIG. 7, which will be described later.

[0052] The screen display unit 111 may display shape data calculated by a machining surface shape calculation unit 102 (described later) on the display unit 130. In this case, the screen display unit 111 is an example of a display unit that displays shape data. For example, the screen display unit 111 reads and displays data such as that shown in FIG. 7 stored in the data storage unit 112.

[0053] Furthermore, the screen display unit 111 may display information on at least one of vibration characteristics and setting values, which will be described later, on the display unit 130. This allows the user to be notified of information on at least one of vibration characteristics and setting values.

[0054] The PC 100 is a computer including a processor (microprocessor), a memory, etc. The memory is a read-only memory (ROM) and a random access memory (RAM), etc., and can store programs executed by the processor. The functions of the adjustment unit 10 are realized by the processor, etc., which executes the programs stored in the memory.

[0055] (2.3.1) Configuration of the Adjustment Unit The adjustment unit 10 calculates set values ​​for the repetitive control performed by the servo amplifier 200 based on the processing data received from the servo amplifier 200. Then, the adjustment unit 10 transmits the calculated set values ​​to the servo amplifier 200.

[0056] As shown in FIG. 3 , the adjustment unit 10 includes an acquisition unit 101, a machining surface shape calculation unit 102 (first calculation unit), a vibration characteristic calculation unit 103 (third calculation unit), a setting value calculation unit 104 (second calculation unit), and an output unit 105.

[0057] The acquisition unit 101 is a functional component of the adjustment system 1 that acquires machining data included in information (motor control information) received from the servo amplifier 200 via the communication IF 120. That is, the acquisition unit 101 acquires machining data obtained during machining of an object (workpiece W1) by a tool T1 of the processing machine.

[0058] The machining surface shape calculation unit 102 (first calculation unit) is a functional component of the adjustment system 1 that calculates the machining shape of an object machined by a processing machine. That is, the machining surface shape calculation unit 102 calculates shape data regarding the machining shape of the object based on the machining data acquired by the acquisition unit 101.

[0059] The machining data includes the rotational speed of the feed motor (servo motor 330) for moving the tool T1 or the object (workpiece W1). The machining data may further include the rotational speed of the spindle drive motor for rotating the tool T1. The machining data may further include torque data (motor torque command) of the servo motor 330. Details of the machining data will be described later.

[0060] For example, the machining surface shape calculation unit 102 calculates shape data based on the machining data and a milling model 400 (see FIG. 5). That is, the machining surface shape calculation unit 102 has the milling model 400 as shown in FIG.

[0061] The milling model 400 includes, for example, a milling thickness calculator 410 , a process gain 420 , a compliance 430 , and a difference calculator 440 .

[0062] The cutting thickness calculation unit 410 calculates the cutting thickness H1 (see FIG. 6 ) of the workpiece W1 cut by the tool T1. Specifically, the cutting thickness calculation unit 410 calculates the cutting thickness H1 by adding the cutting thickness (called the static cutting thickness) set based on machining conditions such as the tool diameter, number of blades, or radial cutting depth to the cutting thickness (called the dynamic cutting thickness) corresponding to the machining surface W11 of the previous cycle and the relative displacement between the tool T1 and the workpiece W1. The dynamic cutting thickness is calculated by the difference calculation unit 440, which will be described later. As shown in FIG. 6 , because the machining surface W11 formed in the previous cycle is cut in the current cycle, the cutting thickness H1 of each cycle is affected by the dynamic cutting thickness of the previous cycle. The symbol W12 in FIG. 6 indicates the machining surface of the current cycle.

[0063] The process gain 420 calculates the cutting resistance according to the chip thickness H1 calculated by the chip thickness calculation unit 410. The cutting resistance occurs at the cutting edge action point P1 shown in FIG. 6, and the direction of force action rotates with the rotation of the tool T1. The symbol R1 in FIG. 6 indicates the rotation direction of the tool T1. The process gain 420 converts the cutting resistance in the tangential direction E1 and normal direction E2 of the rotation of the cutting edge at the cutting edge action point P1 into cutting resistance in the feed direction (e.g., the X direction in FIG. 1) and the vertical direction (e.g., the Y direction in FIG. 1).

[0064] The compliance 430 calculates the relative displacement between the tool T1 and the workpiece W1 that occurs due to the cutting resistance in the feed direction and the vertical direction calculated by the process gain 420. It is assumed that the workpiece W1 is a rigid body.

[0065] The difference calculation unit 440 calculates, as the dynamic cutting thickness, the difference between the machined surface W11 of the previous cycle and the relative displacement calculated by the compliance 430. The dynamic cutting thickness is used to calculate the cutting thickness of the next cycle.

[0066] In this way, the cutting resistance causes a relative displacement between the tool T1 and the workpiece W1, and the relative displacement changes the cutting thickness.

[0067] The machined surface shape calculation unit 102 can calculate the trajectory of the tool T1, i.e., the change in coordinate of the cutting edge position of the tool T1, from the relative displacement calculated in the milling model 400. The machined surface shape calculation unit 102 can also calculate the coordinate of the machined surface of the workpiece W1 cut in accordance with the change in coordinate of the cutting edge position, i.e., the shape data of the machined shape.

[0068] The machined surface shape calculation unit 102 inputs the machining data and the calculated shape data to the vibration characteristic calculation unit 103. The machined surface shape calculation unit 102 also stores the machining data and the calculated shape data in the data storage unit 112.

[0069] Here, an example of the machining data and shape data output from the machining surface shape calculation unit 102 will be described with reference to FIG.

[0070] The machining data and the shape data may each include information on the same time when the workpiece W1 was machined. It is preferable that the machining surface shape calculation unit 102 outputs the machining data and the shape data associated with the time.

[0071] 7 shows the machining data including the spindle speed (rotational speed of the spindle drive motor), the rotational speed and torque command of the x-axis feed axis motor (servo motor 330), and the rotational speed and torque command of the y-axis feed axis motor (servo motor 330). In other words, FIG. 7 shows an example of machining data included in the motor control information in the case of two-axis machining.

[0072] In addition, in FIG. 7, the x-axis machining surface coordinates and the y-axis machining surface coordinates calculated from the machining data are shown as shape data.

[0073] In Fig. 7, data with the same index is data at the same time. Although Fig. 7 shows indexes, the indexes may not be necessary, and time stamps may be shown instead of serial numbers.

[0074] The "rotational speed" referred to here is, for example, a rotational speed calculated (estimated) by the servo amplifier 200 based on the position (angle) of the servo motor 330 (or spindle drive motor) detected by the motor encoder 320. The "torque command" is a torque command for the servo motor 330 (or spindle drive motor) determined by position / speed feedback control in the motor controller 230 in the servo amplifier 200. A control signal is transmitted from the PWM controller 270 so that a drive current based on the torque command flows through the servo motor 330 (or spindle drive motor). Information on the rotational speed and torque command are included in the motor control information. In other words, the motor control information in this embodiment includes information on the motor control command and information on the motor control result. Motor control information other than the rotational speed and torque command may also be added to the data output from the machined surface shape calculation unit 102.

[0075] The data shown in Fig. 7 is stored in the data storage unit 112. The data shown in Fig. 7 may be displayed on the screen display unit 111. In this way, by linking (associating) the shape data with the machining data, it is possible to understand the behavior of the motor when the machining surface is formed.

[0076] The vibration characteristic calculation unit 103 performs a frequency analysis of the machined surface. In the following description, the frequency analysis of the machined surface may be referred to as a "machined surface analysis." The vibration characteristic calculation unit 103 is a functional component of the adjustment system 1 that performs a frequency analysis based on the shape data calculated by the machined surface shape calculation unit 102 in the machined surface analysis, and calculates the vibration characteristics of the machined shape.

[0077] Furthermore, the vibration characteristic calculation unit 103 performs a frequency analysis of the rotation speed. In the following description, the frequency analysis of the rotation speed may be referred to as a "speed analysis." In the speed analysis, the vibration characteristic calculation unit 103 performs a frequency analysis based on the rotation speed of the feed motor (servo motor 330) included in the processing data, and acquires the vibration characteristics of the rotation speed.

[0078] More specifically, the vibration characteristic calculation unit 103 determines whether the processing machine is currently processing an object based on the shape data calculated by the processing surface shape calculation unit 102, and if it determines that processing is currently being performed, calculates at least one of the vibration characteristics of the processing shape and the vibration characteristics of the rotation speed. Note that the vibration characteristic calculation unit 103 of this embodiment calculates at least the vibration characteristics of the processing shape when it determines that processing is currently being performed. Furthermore, if it determines that processing is not currently being performed, the vibration characteristic calculation unit 103 does not calculate the vibration characteristics of the processing shape and the vibration characteristics of the rotation speed. In this way, it is possible to obtain the vibration characteristics during processing.

[0079] 8 is a graph for explaining the algorithm of the machining state detection process in the vibration characteristic calculation unit 103. The vibration characteristic calculation unit 103 calculates the variance s of the past n pieces of machining data with the most recent machining data as a reference. ２ Based on the variance s, it is determined whether the processing machine is currently processing an object. In the following description, the state in which the processing machine is currently processing an object may be referred to as the "processing state," and the state in which the processing machine is not currently processing an object may be referred to as the "non-processing state." ２ can be expressed by the following equation (3).

[0080]

[0081] The vibration characteristic calculation unit 103 calculates the variance s ２ and the dispersion threshold s ０ ２ The vibration characteristic calculation unit 103 compares the variance s ２ is the dispersion threshold s ０ ２ If the dispersion s is greater than or equal to the value of the ２ is the dispersion threshold s ０ ２ In the example of FIG. 8, the period between timing T2 and timing T3 is the unprocessed state, and the variance s ２ is the dispersion threshold s ０ ２ The period between timing T4 and timing T5 is a processing period, and the dispersion s ２ is the dispersion threshold s ０２ This is the period.

[0082] In the processed surface analysis, the vibration characteristic calculation unit 103 performs a fast Fourier transform (FFT) on shape data in the time domain as shown in FIG. 9 to obtain vibration characteristics in the frequency domain as shown in FIG.

[0083] In addition, in the velocity analysis, the vibration characteristic calculation unit 103 performs a fast Fourier transform (FFT) on shape data in the time domain as shown in FIG. 11 to obtain vibration characteristics in the frequency domain as shown in FIG.

[0084] The vibration characteristic calculation unit 103 outputs information indicating the calculated vibration characteristics to the setting value calculation unit 104. The vibration characteristics calculated by the vibration characteristic calculation unit 103 are based on the shape data calculated by the processing surface shape calculation unit 102.

[0085] The set value calculation unit 104 is a functional component of the adjustment system 1 that calculates set values ​​for repetitive control of the processing machine based on the shape data calculated by the processing surface shape calculation unit 102. More specifically, the set value calculation unit 104 of this embodiment calculates set values ​​based on the vibration characteristics calculated by the vibration characteristic calculation unit 103. Because the set values ​​are calculated based on the vibration characteristics of the processing shape, it is possible to further improve the processing quality of the target object (workpiece W1). In addition, by calculating the set values ​​based on the vibration characteristics of the rotational speed of the feed motor (servo motor 330), it is possible to further improve the processing quality of the target object (workpiece W1).

[0086] The set value calculation unit 104 calculates a set value based on the vibration characteristics of the shape data. More specifically, the set value calculation unit 104 detects a peak frequency based on the vibration characteristics. Then, the set value calculation unit 104 calculates a set value including a repetition period of repetitive control based on the detected peak frequency. Because the set value is calculated based on the peak frequency, it is possible to further improve the processing quality of the target object (workpiece W1).

[0087] The set value calculation unit 104 of this embodiment detects a frequency equal to or greater than a preset intensity threshold value TH1 (see FIG. 10) as a peak frequency, thereby suppressing highly influential disturbance vibrations and further improving the processing quality of the target object (workpiece W1).

[0088] Furthermore, the set value calculation unit 104 detects frequencies equal to or lower than a preset upper limit frequency F1 (see FIG. 10 ) as peak frequencies. In this embodiment, the set value calculation unit 104 detects the frequency with the highest intensity among frequencies equal to or higher than the intensity threshold TH1 and equal to or lower than the upper limit frequency F1 as the peak frequency. In the example of FIG. 10 , the set value calculation unit 104 detects the frequency corresponding to peak P2 as the peak frequency. Here, the "peak" refers to the maximum value of intensity in the vibration characteristics. The intensity threshold TH1 and the upper limit frequency F1 are set as appropriate, for example, by the user performing a predetermined operation on a UI displayed on the display unit 130.

[0089] The set value calculation unit 104 calculates the filter time constant using the following equation (4), and calculates the repetition period using the following equation (5).

[0090]

[0091]

[0092] "n" in equations (4) and (5) corresponds to the number of peak frequencies detected by the set value calculation unit 104. In this embodiment, the set value calculation unit 104 detects one peak frequency, so n=1. ｎ " is the filter time constant, and "L" is the upper limit frequency F1. ｎ " is the repetition period (learning period), and "D ｆｎ ” is the peak frequency detected by the setting value calculation unit 104.

[0093] The set value calculation unit 104 may also calculate the set value based on the vibration characteristics of the rotation speed. The set value calculation unit 104 detects, as the peak frequency, a frequency having an intensity equal to or greater than a predetermined intensity threshold TH2 (see FIG. 12 ). The set value calculation unit 104 also detects, as the peak frequency, a frequency having an intensity equal to or greater than a predetermined upper limit frequency F2 (see FIG. 12 ). In this embodiment, the set value calculation unit 104 detects, as the peak frequency, the frequency with the highest intensity among the frequencies having an intensity equal to or greater than the intensity threshold TH2 and equal to or less than the upper limit frequency F2. In the example of FIG. 12 , the set value calculation unit 104 detects, as the peak frequency, the frequency corresponding to peak P4. The set value calculation unit 104 then calculates the filter time constant using Equation (4) and calculates the repetition period using Equation (5). For example, the intensity threshold TH2 and the upper limit frequency F2 are appropriately set by the user performing a predetermined operation on the UI displayed on the display unit 130.

[0094] The intensity threshold value TH1 and the intensity threshold value TH2 may be the same value or different values, and the upper limit frequency F1 and the upper limit frequency F2 may be the same value or different values.

[0095] The set value calculation unit 104 outputs the calculated set value including the filter time constant and the repetition period to the output unit 105 .

[0096] The output unit 105 outputs the set value for the repetitive control calculated by the set value calculation unit 104 to the servo amplifier 200 via the communication IF 120 .

[0097] (3) Operation of the Adjustment System Next, the operation of the adjustment system 1 (or the processing system 2) will be described with reference to FIG.

[0098] The adjustment system 1 acquires machining data from the servo amplifier 200 (step S1). Here, the adjustment system 1 stores the machining data in the data storage unit 112. Next, the adjustment system 1 calculates the machining surface shape (shape data) based on the machining data (step S2).

[0099] The adjustment system 1 detects the machining state based on the shape data (step S3). Next, the adjustment system 1 determines whether the machining machine is currently machining an object, i.e., whether it is in a machining state or a non-machining state (step S4). If the adjustment system 1 determines that it is in a non-machining state (step S4: No), the adjustment system 1 calculates a set value for repeat control (step S10). More specifically, if the adjustment system 1 determines that it is in a non-machining state, it determines a set value that disables repeat control. Then, the adjustment system 1 outputs the set value to the servo amplifier 200 (step S11). Then, the adjustment system 1 ends the series of processes shown in FIG. 13.

[0100] On the other hand, if the adjustment system 1 determines that the state is a machining state (step S4: Yes), it determines whether or not to perform machining surface analysis (step S5). Here, whether or not to perform machining surface analysis is set by the user performing a predetermined operation on the UI displayed on the display unit 130. However, in this embodiment, the setting to perform machining surface analysis is set, and the adjustment system 1 performs machining surface analysis. If the adjustment system 1 determines that machining surface analysis will be performed (step S5: Yes), it performs frequency analysis of the machining surface to calculate vibration characteristics (step S6). Then, the adjustment system 1 executes the processing of step S7. On the other hand, if the adjustment system 1 determines that machining surface analysis will not be performed (step S5: No), it executes the processing of step S7 without performing frequency analysis of the machining surface.

[0101] Next, in the process of step S7, the adjustment system 1 determines whether or not to perform speed analysis. Here, whether or not to perform speed analysis is set by the user performing a predetermined operation on the UI displayed on the display unit 130. Note that if the machining surface analysis is not to be performed (step S5: No), the adjustment system 1 performs speed analysis. That is, the adjustment system 1 performs at least one of the machining surface analysis and the speed analysis. If the adjustment system 1 determines to perform speed analysis (step S7: Yes), it performs frequency analysis of the rotation speed to calculate vibration characteristics (step S8). Then, the adjustment system 1 performs the process of step S9. On the other hand, if the adjustment system 1 determines not to perform speed analysis (step S7: No), it performs the process of step S9 without performing frequency analysis of the rotation speed.

[0102] In step S9, the adjustment system 1 identifies the vibration frequency. In other words, the adjustment system 1 detects the peak frequency. Then, the adjustment system 1 calculates a set value for the repetitive control based on the detected peak frequency (step S10), and outputs the calculated set value to the servo amplifier 200 (step S11). Then, the adjustment system 1 ends the series of processes shown in FIG. 13.

[0103] The flowchart shown in FIG. 13 is merely an example, and the order of the processes may be changed as appropriate, and processes may be added or deleted as appropriate.

[0104] (4) Advantages FIG. 14 is a graph showing machining data when repetitive control is being executed in the machining system 2 of this embodiment. FIG. 15 is a graph showing machining data when repetitive control is not being executed in the machining system 2. As shown in FIGS. 14 and 15 , when the tool T1 cuts an object, a cutting force is generated, causing a change in the motor speed (feed rate). In the graph of FIG. 15 , in addition to changes in the motor speed corresponding to the cutting cycle, changes in the motor speed due to disturbances are also observed. However, in the graph of FIG. 14 , only changes in the motor speed corresponding to the cutting cycle are observed. In other words, the machining system 2 of this embodiment can suppress disturbance vibrations by performing repetitive control. This suppresses the occurrence of machined surface defects such as waviness, improving the machining quality of the object.

[0105] (5) Modifications Modifications of the above embodiment are listed below.

[0106] (5.1) Modification 1 In the machining state detection process, the vibration characteristic calculation unit 103 may determine whether the machining device is currently machining an object based on a difference He between an average value Ha of the past n pieces of machining data, with the most recent machining data as a reference, and a current value H. The difference He can be expressed by the following equation (6):

[0107]

[0108] The vibration characteristic calculation unit 103 compares the difference He with the judgment reference value H0 to determine whether the processing machine is currently processing an object. The vibration characteristic calculation unit 103 determines that the processing machine is in a processing state when the difference He is equal to or greater than the judgment reference value H0, and determines that the processing machine is in a non-processing state when the difference He is less than the judgment reference value H0. In the example of FIG. 8 , the period between timing T2 and timing T3 is a period in which the processing machine is in a non-processing state and the difference He is less than the judgment reference value H0. Furthermore, the period between timing T4 and timing T5 is a period in which the processing machine is in a processing state and the difference He is equal to or greater than the judgment reference value H0.

[0109] (5.2) Modification 2 In the machining state detection process, the vibration characteristics calculation unit 103 may determine whether the machining device is machining an object based on data on the motor rotation speed. The vibration characteristics calculation unit 103 determines that the machine is in a non-machining state when all of the most recent n pieces of data are within a threshold range, and determines that the machine is in a machining state when any of the most recent n pieces of data is outside the threshold range.

[0110] 16, the interval between thresholds TH3 and TH4 is within the threshold range. The interval between timing T6 and timing T7 is the interval during which some of the most recent data from the past n data points falls outside the threshold range, and is the interval during which the data is determined to be in a processed state.

[0111] (5.3) Modification 3 As shown in FIG. 17, the machining system 2 may include a repetition control unit 231A instead of the repetition control unit 231.

[0112] The repeat control unit 231A differs from the repeat control unit 231 in that it further includes a pair of switches SW1 and SW2. The pair of switches SW1 and SW2 are arranged on both ends of the controller 20. The controller 20 does not perform repeat control when the pair of switches SW1 and SW2 are in an open state. On the other hand, the controller 20 performs repeat control when the pair of switches SW1 and SW2 are in a connected state.

[0113] The pair of switches SW1 and SW2 are opened, for example, when the vibration characteristic calculation unit 103 determines that the machine is in a non-machining state during the machining state detection process. This makes it possible to prevent unnecessary repetitive control from being performed, for example, when the machine is in a non-machining state.

[0114] (5.4) Modification 4 As shown in FIG. 18, the machining system 2 may include a repetition control unit 231B instead of the repetition control unit 231.

[0115] The repetitive control unit 231B differs from the repetitive control unit 231 in that it has a plurality of (three in the example of FIG. 18 ) controllers 20. In the fourth modification, the plurality of controllers 20 includes three controllers 20A, 20B, and 20C.

[0116] The set value calculation unit 104 of the fourth modification detects, as a plurality of peak frequencies, a plurality of frequencies that are equal to or greater than a predetermined intensity threshold TH1 (see FIG. 10 ) and equal to or less than a predetermined upper limit frequency F1. Then, based on the detected plurality of peak frequencies, the set value calculation unit 104 calculates a plurality of set values ​​that each include a repetition period (learning period) of the repetitive control in each of the plurality of controllers 20.

[0117] In the example of Fig. 10, the set value calculation unit 104 detects a frequency corresponding to peak P2 and a frequency corresponding to peak P3 as the plurality of peak frequencies. In the example of Fig. 12, the set value calculation unit 104 detects a frequency corresponding to peak P4, a frequency corresponding to peak P5, and a frequency corresponding to peak P6 as the plurality of peak frequencies.

[0118] The plurality of controllers 20 correspond one-to-one to the plurality of peak frequencies detected by the set value calculation unit 104 .

[0119] This makes it possible to suppress multiple disturbance vibrations that have a high impact, thereby further improving the processing quality of the target object (workpiece W1).

[0120] Furthermore, a pair of switches SW1 and SW2 are arranged at both ends of each of the three controllers 20A, 20B, and 20C. For example, if the number of peak frequencies detected by the set value calculation unit 104 is smaller than the number of the plurality of controllers 20, the pair of switches SW1 and SW2 arranged at both ends of the unused controller 20 are opened. This makes it possible to prevent unnecessary repetitive control from being performed.

[0121] (5.5) Modification 5 As shown in Fig. 19, the adjustment unit 10 (or the adjustment system 1) may be implemented in a numerical control device 500 instead of the PC 100. The numerical control device 500 is a device for adjusting (controlling) set values ​​for repetitive control, for example. In other words, the numerical control device 500 is an adjustment device (control device) for set values ​​for repetitive control.

[0122] The numerical control device 500 includes, in addition to the adjustment unit 10, a communication IF 510 and a communication control unit 520. The communication IF 510 is a communication interface such as a communication device for communicating with the servo amplifier 200. The communication IF 510 receives machining data obtained during machining of an object by a tool T1 of the processing machine from the servo amplifier 200. The communication IF 510 also transmits to the servo amplifier 200 operation information corresponding to the operation content obtained via a UI for operating the servo amplifier 200, and a control command including a set value for repetitive control output from the adjustment unit 10. The communication control unit 520 mediates communication between the adjustment unit 10 and the communication IF 510.

[0123] (5.6) Modification 6 As shown in FIG. 20 , the adjustment unit 10 (or the adjustment system 1) may be implemented in the servo amplifier 200 instead of the PC 100. The adjustment unit 10 directly acquires machining data from the motor controller 230. The adjustment unit 10 outputs the acquired machining data to the upper controller 600 via the communication IF 210 and the communication control unit 220. The adjustment unit 10 also directly outputs a set value for repetitive control to the motor controller 230. The adjustment unit 10 outputs information on at least one of the calculated vibration characteristics and the set value to the upper controller 600 via the communication IF 210 and the communication control unit 220.

[0124] 20 has software installed therein for controlling the servo amplifier 200. The host controller 600 is, for example, a motion controller (such as a programmable logic controller (PLC) or an industrial PC (IPC)).

[0125] The communication IF 610 is a communication interface such as a communication device for communicating with the servo amplifier 200. The communication control unit 520 controls communication with the servo amplifier 200 via the communication IF 610. For example, the communication control unit 520 receives machining data from the servo amplifier 200. The display unit 630 displays a UI for operating the servo amplifier 200. The display unit 630 may display shape data calculated by the adjustment unit 10, or may display information on at least one of vibration characteristics and set values ​​calculated by the adjustment unit 10. The data storage unit 640 stores information (motor control information) received from the servo amplifier 200.

[0126] (5.7) Modification 7 In the above embodiment, the adjustment unit 10 (or the adjustment system 1) calculates shape data based on machining data, and calculates the set value of the repeat control based on the calculated shape data. However, it is not essential that the adjustment unit 10 calculates the set value of the repeat control based on the shape data. In other words, the set value calculation unit 104 may calculate the set value of the repeat control based on at least one of the vibration characteristics of the machining shape and the vibration characteristics of the rotation speed.

[0127] The vibration characteristic calculation unit 103 (first calculation unit) performs frequency analysis based on the rotational speed of the servo motor 330 (feed motor) to calculate the vibration characteristics of the rotational speed. The set value calculation unit 104 (second calculation unit) calculates set values ​​for repetitive control of the processing machine based on the vibration characteristics calculated by the vibration characteristic calculation unit 103 (first calculation unit). The output unit 105 outputs the set values ​​calculated by the set value calculation unit 104 (second calculation unit) to the repetitive control unit 231 that performs repetitive control.

[0128] The repetition control unit 231 performs repetition control based on the set value output from the output unit 105 .

[0129] In the adjustment system 1 (or machining system 2) of Modification 7, the set values ​​of the repetitive control are also automatically adjusted using the shape data of the machining surface W10, making it possible to adjust the set values ​​in real time and suppress disturbance vibrations. This suppresses the occurrence of machining surface defects such as wavy shapes and improves the machining quality of the target object.

[0130] (5.8) Other Modifications Functions equivalent to those of the adjustment system 1 (or machining system 2) according to the above embodiment may be embodied as a machining method, a (computer) program, a non-transitory recording medium having a program recorded thereon, or the like. A machining method according to one aspect includes an acquisition step, a first calculation step, a second calculation step, and an output step. In the acquisition step, machining data obtained during machining of an object (workpiece W1) by a tool T1 of a machining machine is acquired. In the first calculation step, shape data relating to the machining shape of the object is calculated based on the machining data acquired in the acquisition step. In the second calculation step, setting values ​​for repetitive control of the machining machine are calculated based on the shape data calculated in the first calculation step. In the output step, the setting values ​​calculated in the second calculation step are output to a repetitive control unit 231 that performs repetitive control. A machining method according to one aspect includes an acquisition step, a first calculation step, a second calculation step, and an output step. In the acquisition step, machining data obtained during machining of an object (workpiece W1) by a tool T1 of a machining machine is acquired. In a first calculation step, frequency analysis is performed based on the rotational speed of the feed motor (servo motor 330) to calculate vibration characteristics of the rotational speed. The rotational speed of the feed motor is included in the machining data. In a second calculation step, a set value for repetitive control of the machining machine is calculated based on the vibration characteristics calculated in the first calculation step. In an output step, the set value calculated in the second calculation step is output to a repetitive control unit 231 that performs repetitive control. A program according to one aspect is a program for causing one or more processors to execute the above-described machining method.

[0131] The executing entity of the adjustment system 1 (or processing system 2) or processing method in the present disclosure includes a computer system. The computer system is mainly composed of a processor and memory as hardware. The processor executes a program recorded in the memory of the computer system to realize the functions of the executing entity of the adjustment system 1 or processing method in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided by being recorded on a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs or LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0132] Furthermore, it is not essential for the adjustment system 1 that multiple functions are concentrated in one housing, and the components of the adjustment system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the adjustment system 1, for example, some of the functions of the adjustment unit 10, may be realized by the cloud (cloud computing) or the like.

[0133] In the above embodiment, at least some of the functions of the machining system 2 that are distributed among multiple devices may be integrated into one housing. For example, some of the functions of the machining system 2 that are distributed among the PC 100 and the servo amplifier 200 may be integrated into one housing.

[0134] (Summary) As is clear from the above-described embodiment and modified examples, the machining system (2) according to the first aspect includes an acquisition unit (101), a first calculation unit (machined surface shape calculation unit 102), a second calculation unit (set value calculation unit 104), and an output unit (105). The acquisition unit (101) acquires machining data obtained during machining of an object (workpiece W1) by a tool (T1) possessed by the machining machine. The first calculation unit calculates shape data relating to the machined shape of the object based on the machining data acquired by the acquisition unit (101). The second calculation unit calculates set values ​​for repetitive control of the machining machine based on the shape data calculated by the first calculation unit. The output unit (105) outputs the set values ​​calculated by the second calculation unit to a repetitive control unit (231) that performs repetitive control.

[0135] According to this aspect, it is possible to improve the processing quality of the target object (workpiece W1).

[0136] In the machining system (2) according to the second aspect, in the first aspect, the machining data includes the rotational speed of the feed motor (servo motor 330) for moving the tool (T1) or the object (workpiece W1).

[0137] A machining system (2) according to a third aspect is the first or second aspect, further including a third calculation unit (vibration characteristic calculation unit 103). The third calculation unit performs frequency analysis based on the shape data calculated by the first calculation unit (machined surface shape calculation unit 102) to calculate vibration characteristics of the machining shape. The second calculation unit (setting value calculation unit 104) calculates a setting value based on the vibration characteristics calculated by the third calculation unit.

[0138] According to this embodiment, the processing quality of the target object (workpiece W1) can be further improved.

[0139] In the machining system (2) according to the fourth aspect, in the third aspect, the machining data includes a rotational speed of a feed motor (servo motor 330) for moving a tool (T1) or an object (workpiece W1). The third calculation unit (vibration characteristic calculation unit 103) performs frequency analysis based on the rotational speed of the machining data to calculate vibration characteristics of the rotational speed.

[0140] According to this embodiment, the processing quality of the target object (workpiece W1) can be further improved.

[0141] The processing system (2) according to a fifth aspect is the third or fourth aspect, further including a screen display unit (111). The screen display unit (111) displays information on at least one of vibration characteristics and setting values ​​on the display unit (130).

[0142] According to this aspect, it is possible to notify the user of information on at least one of the vibration characteristics and the setting value.

[0143] In a machining system (2) according to a sixth aspect, in any one of the third to fifth aspects, the second calculation unit (the set value calculation unit 104) detects a peak frequency based on the vibration characteristics. The second calculation unit calculates a set value including a repetition period of the repetitive control based on the detected peak frequency.

[0144] According to this embodiment, the processing quality of the target object (workpiece W1) can be further improved.

[0145] In the processing system (2) according to the seventh aspect, in the sixth aspect, the second calculation unit (setting value calculation unit 104) detects a frequency equal to or greater than a predetermined intensity threshold (TH1) as a peak frequency.

[0146] According to this embodiment, the processing quality of the target object (workpiece W1) can be further improved.

[0147] In the processing system (2) relating to the eighth aspect, in any of the third to seventh aspects, the third calculation unit (vibration characteristic calculation unit 103) determines whether or not the object (workpiece W1) is being processed based on the shape data, and calculates the vibration characteristics if it is determined that processing is being performed.

[0148] According to this aspect, it is possible to acquire vibration characteristics during machining.

[0149] A machining system (2) according to a ninth aspect includes an acquisition unit (101), a first calculation unit (vibration characteristic calculation unit 103), a second calculation unit (setting value calculation unit 104), and an output unit (105). The acquisition unit (101) acquires machining data obtained during machining of an object (workpiece W1) by a tool (T1) of a machining machine. The first calculation unit performs frequency analysis based on the rotational speed of a feed motor (servo motor 330) to calculate vibration characteristics of the rotational speed. The rotational speed of the feed motor is included in the machining data. The second calculation unit calculates setting values ​​for repetitive control of the machining machine based on the vibration characteristics calculated by the first calculation unit. The output unit (105) outputs the setting values ​​calculated by the second calculation unit to a repetitive control unit (231) that performs repetitive control.

[0150] According to this aspect, it is possible to improve the processing quality of the target object (workpiece W1).

[0151] The machining system (2) according to a tenth aspect is any one of the first to ninth aspects, further including a repetition control unit (231). The repetition control unit (231) performs repetition control based on the setting value calculated by the second calculation unit (setting value calculation unit 104).

[0152] According to this aspect, it is possible to improve the processing quality of the target object (workpiece W1).

[0153] A machining system (2) according to an eleventh aspect is the sixth or seventh aspect, further including a repetition control unit (231). The repetition control unit (231) has a plurality of controllers (20). A second calculation unit (set value calculation unit 104) detects a plurality of frequencies equal to or greater than a predetermined intensity threshold (TH1) as a plurality of peak frequencies. The second calculation unit calculates a set value including a repetition period of the repetition control in each of the plurality of controllers (20) based on the detected plurality of peak frequencies. The plurality of controllers correspond one-to-one to the plurality of peak frequencies. Each of the plurality of controllers performs repetition control based on the set value calculated by the second calculation unit. That is, the second calculation unit (set value calculation unit 104) detects a plurality of frequencies equal to or greater than a predetermined intensity threshold (TH1) as a plurality of peak frequencies. The second calculation unit calculates a plurality of set values ​​including a repetition period of the repetition control in each of the plurality of controllers (20) based on the detected plurality of peak frequencies. Each control unit of the plurality of controllers performs repetitive control based on a corresponding one of the plurality of setting values ​​calculated by the second calculation unit.

[0154] According to this embodiment, the processing quality of the target object (workpiece W1) can be further improved.

[0155] In a processing system (2) according to a twelfth aspect, in the tenth aspect, the repetitive control unit (231) includes a controller (20) that performs repetitive control and a pair of switches (SW1, SW2) arranged on both ends of the controller (20). The controller (20) does not perform repetitive control when the pair of switches are in an open state.

[0156] According to this aspect, for example, in a non-processing state, it is possible to prevent repetitive control from being performed without permission.

[0157] The configurations other than the first aspect are not essential for the processing system (2) and can be omitted as appropriate.

[0158] The machining method according to the thirteenth aspect includes an acquisition step, a first calculation step, a second calculation step, and an output step. In the acquisition step, machining data obtained during machining of an object (workpiece W1) by a tool (T1) of a machining machine is acquired. In the first calculation step, shape data relating to the machining shape of the object is calculated based on the machining data acquired in the acquisition step. In the second calculation step, setting values ​​for repetitive control of the machining machine are calculated based on the shape data calculated in the first calculation step. In the output step, the setting values ​​calculated in the second calculation step are output to a repetitive control unit (231) that performs repetitive control.

[0159] According to this aspect, it is possible to improve the processing quality of the target object (workpiece W1).

[0160] A program according to a fourteenth aspect is a program for causing one or more processors to execute the processing method according to the thirteenth aspect.

[0161] According to this aspect, it is possible to improve the processing quality of the target object (workpiece W1).

[0162] 2 Machining system 101 Acquisition unit 102 Machining surface shape calculation unit (first calculation unit) 103 Vibration characteristic calculation unit (third calculation unit) (first calculation unit) 104 Set value calculation unit (second calculation unit) 105 Output unit 111 Screen display unit 130 Display unit 20 Controller 231 Repeat control unit 330 Servo motor (feed motor) SW1 Switch SW2 Switch T1 Tool TH1 Strength threshold W1 Workpiece (object)

Claims

1. A machining system comprising: an acquisition unit that acquires machining data obtained during machining of an object using a tool possessed by a machining machine; a first calculation unit that calculates shape data relating to the machining shape of the object based on the machining data acquired by the acquisition unit; a second calculation unit that calculates setting values ​​for repetitive control of the machining machine based on the shape data calculated by the first calculation unit; and an output unit that outputs the setting values ​​calculated by the second calculation unit to a repetitive control unit that performs the repetitive control.

2. The machining system according to claim 1, wherein the machining data includes a rotation speed of a feed motor for moving the tool or the object.

3. The machining system described in claim 1, further comprising a third calculation unit that performs frequency analysis based on the shape data calculated by the first calculation unit to calculate the vibration characteristics of the machining shape, and the second calculation unit calculates the setting value based on the vibration characteristics calculated by the third calculation unit.

4. The machining system according to claim 3, wherein the machining data includes a rotational speed of a feed motor for moving the tool or the object, and the third calculation unit performs frequency analysis based on the rotational speed of the machining data to calculate vibration characteristics of the rotational speed.

5. The processing system according to claim 3, further comprising a screen display unit that displays information on at least one of the vibration characteristics and the set value on a display unit.

6. The machining system according to claim 3, wherein the second calculation unit detects a peak frequency based on the vibration characteristics, and calculates the set value including the repetition period of the repetitive control based on the detected peak frequency.

7. The processing system according to claim 6, wherein the second calculation unit detects a frequency equal to or greater than a preset intensity threshold as the peak frequency.

8. The machining system according to claim 3, wherein the third calculation unit determines whether or not the object is being machined based on the shape data, and calculates the vibration characteristics when it determines that the object is being machined.

9. A machining system comprising: an acquisition unit that acquires machining data obtained during machining of an object by a tool possessed by a machining machine; a first calculation unit that performs frequency analysis based on the rotational speed of the tool or a feed motor for moving the object included in the machining data acquired by the acquisition unit and calculates vibration characteristics of the rotational speed; a second calculation unit that calculates setting values ​​for repetitive control of the machining machine based on the vibration characteristics calculated by the first calculation unit; and an output unit that outputs the setting values ​​calculated by the second calculation unit to a repetitive control unit that performs the repetitive control.

10. The machining system according to claim 1 or 9, further comprising the repetitive control unit, wherein the repetitive control unit performs the repetitive control based on the set value calculated by the second calculation unit.

11. The machining system according to claim 6, further comprising a repetitive control unit, wherein the repetitive control unit has a plurality of controllers, and the second calculation unit detects a plurality of frequencies that are equal to or greater than a predetermined intensity threshold as a plurality of peak frequencies, and calculates the setting value including a repetition period of the repetitive control in each of the plurality of controllers based on the detected plurality of peak frequencies, wherein the plurality of controllers correspond one-to-one to the plurality of peak frequencies, and each of the plurality of controllers performs the repetitive control based on the setting value calculated by the second calculation unit.

12. The machining system according to claim 10, wherein the repetitive control section has: a controller that performs the repetitive control; and a pair of switches arranged on both ends of the controller; and the controller does not perform the repetitive control when the pair of switches are in an open state.

13. A machining method comprising: an acquisition step of acquiring machining data obtained during machining of an object by a tool of a machining machine; a first calculation step of calculating shape data relating to the machining shape of the object based on the machining data acquired in the acquisition step; a second calculation step of calculating setting values ​​for repetitive control of the machining machine based on the shape data calculated in the first calculation step; and an output step of outputting the setting values ​​calculated in the second calculation step to a repetitive control unit that performs the repetitive control.

14. A program for causing one or more processors to execute the processing method according to claim 13.

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