摘要
展成磨齿是重要的高速高精度齿轮加工工艺,数控磨齿机刀具与工件同步控制即电子齿轮箱控制精度很大程度决定了齿轮加工精度。为了减小实际工况中由于磨削力变化等因素对同步控制精度的影响,提出一种电子齿轮箱自适应同步控制方法,用于提高磨齿核心控制系统的抗扰动性。首先,建立了一种基于电子齿轮箱的多轴联动模型;然后,研究了一种具有自适应功能的扩展卡尔曼观测器,对多轴联动加工过程中产生的磨削力进行观测,系统对观测结果进行处理,并根据运算结果设计前馈对其磨削力产生的偏差进行补偿;最后,在仿真系统中对比传统观测器的观测效果,通过仿真和实验证明该方法能有效减少齿轮的螺旋线偏差与齿距偏差,保证系统的抗扰动性。
Generating gear grinding is an important high-speed and high-precision gear processing technology.CNC gear grinding machine tool and workpiece synchronous control,namely electronic gear box control precision largely determines the precision of gear machining.In order to reduce the influence of grinding force changes,external disturbances and other factors on the synchronization control accuracy in actual working conditions,an adaptive synchronization control method of electronic gearbox is proposed to improve the anti-interference of the core control system of gear grinding.Firstly,a multi axis linkage model based on electronic gearbox is established;Then,an extended Kalman observer with adaptive function is studied to observe the grinding force generated in the multi axis machining process.The system processes the observation results,and designs feedforward based on the calculation results to compensate the deviation generated by the grinding force;Finally,compared with the observation effect of traditional observers in the simulation system,the simulation and experiment show that this method can effectively reduce the helix deviation and pitch deviation of gears,and ensure the antiinterference of the system.
作者
韩江
周广鑫
夏链
黄晓勇
李彦青
田晓青
HAN Jiang;ZHOU Guangxin;XIA Lian;HUANG Xiaoyong;LI Yanqing;TIAN Xiaoqing(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,CHN;Anhui Intelligent Numerical Control Technology and Equipment Laboratory,Hefei 230009,CHN)
出处
《制造技术与机床》
北大核心
2023年第2期160-166,共7页
Manufacturing Technology & Machine Tool
基金
国家重点研发计划(2020YFE0201000)
国家自然科学基金(52075142,51875161)。
关键词
电子齿轮箱
展成磨齿
扩展卡尔曼滤波
前馈补偿
干扰观测器
electronic gearbox
generating gear grinding
extended Kalman filter
feedforward compensation
disturbance observer