Sensorless cutting force estimation for full-closed controlled ball-screw-driven stage
Sensorless cutting force estimation for full-closed controlled ball-screw-driven stage
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DOI：
10.1007/s00170-016-8710-5
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发表时间：
2016-04
期刊：
影响因子：
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通讯作者：
Yuki Yamada;Y. Kakinuma
中科院分区：
文献类型：
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作者：
Yuki Yamada;Y. Kakinuma
为了实现加工过程的高效化和自动化，对过程监控技术进行了研究。切削力被广泛认为是监测金属切削过程时收集的最有价值的物理量。然而，一个实用的，宽带的，和间接的手段测量切削力尚未达到滚珠丝杠驱动机床。近年来，安装直线编码器的全封闭滚珠丝杠工作台已广泛应用于高端机床。考虑到使用来自全封闭控制的滚珠丝杠驱动工作台的伺服信息的间接切削力估计，三条信息可用作进给驱动的伺服信号：电机电流指令、电机的旋转角度和工作台的位移。提出了一种基于多编码器干扰观测器的高精度宽带无传感器全封闭滚珠丝杠工作台切削力估计方法。MEDOB最初是为了估计柔性机器人负载侧的外力而提出的，并用于谐振比控制，其目的是抑制低频振动。本研究的目的是开发一种估计技术的高频切削力，超过带宽的电流控制回路的高刚度滚珠丝杠驱动阶段。为了将MEDOB应用于实际的滚珠丝杠传动平台，考虑了额外相位滞后对控制信号的影响。仿真分析和切削实验验证了该方法的有效性。
Process monitoring technology has been studied in order to realize higher efficiencies and greater automation of the machining process. The cutting force is widely regarded as being the most valuable physical quantity to be gathered when monitoring a metal-cutting process. However, a practical, wideband, and indirect means of measuring the cutting force has not yet been attained for ball-screw-driven machine tools. In recent years, full-closed ball-screw-driven stages mounting linear encoder have been widely used for high-end machine tools. Considering indirect cutting force estimation using servo information from a full-closed controlled ball-screw-driven stage, three pieces of information are available as servo signals of the feed drive: the motor current command, the rotation angle of the motor, and the displacement of the stage. In this study, a high-precision and wideband sensorless cutting force estimation method was proposed for full-closed controlled ball-screw-driven stages using a multi-encoder-based disturbance observer (MEDOB). The MEDOB was originally proposed for estimating the external force on the load side of flexible robots, and was used for resonance ratio control, which was intended to suppress low-frequency vibration. This study aimed to develop an estimation technique for high-frequency cutting forces that exceed the bandwidth of current control loops for the highly stiff ball-screw-driven stage. The influence of extra phase lag on the control signals was considered in order to apply MEDOB to an actual ball-screw-driven stage. The validity of the proposed method was verified using both an analytical simulation and cutting experiments.