阅读说明：本技术 断续铣削振动分段控制方法 (Discontinuous milling vibration subsection control method ) 是由 黄涛 曹乐 叶波 龙永胜 李海 万坤 张小明 丁汉 于 2020-06-22 设计创作，主要内容包括：本发明提供一种断续铣削振动分段控制方法,包括：分析断续铣削刀具切入切出过程,无切削过程为自由振动状态,切削过程为受迫振动状态,对于断续铣削进行时滞动力学建模与分段近似；设计综合时滞反馈与状态反馈的控制器,以整体系统的稳定性为目标,允许受迫振动阶段出现不稳定现象；基于线性矩阵不等式和李雅普诺夫定理判断稳定性并确定控制器参数。本发明具有较小的控制器增益和较高的稳定性判别精度。(The invention provides a discontinuous milling vibration subsection control method, which comprises the following steps: analyzing the cut-in and cut-out process of the intermittent milling cutter, wherein the non-cutting process is in a free vibration state, the cutting process is in a forced vibration state, and performing time-lag dynamics modeling and segment approximation on the intermittent milling; designing a controller integrating time-lag feedback and state feedback, aiming at the stability of the whole system and allowing the unstable phenomenon to occur in the forced vibration stage; and judging the stability and determining the controller parameters based on the linear matrix inequality and the Lyapunov theorem. The invention has smaller controller gain and higher stability discrimination precision.)

1. A discontinuous milling vibration subsection control method is characterized by comprising the following steps:

firstly, performing time-lag dynamics modeling and segment approximation on intermittent milling;

designing a controller for integrating time lag feedback and state feedback;

and thirdly, judging the stability and determining the controller parameters based on the linear matrix inequality and the Lyapunov theorem.

2. The interrupted milling vibration segmentation control method according to claim 1,

the first step specifically comprises:

the intermittent milling process is divided into a free vibration period and a forced vibration period according to the contact state of the cutter and the workpiece, and the two states are respectively modeled, wherein the cutting force orientation coefficient is linearly approximated in the forced vibration period so as to facilitate the design and analysis of a controller;

wherein the content of the first and second substances,

and (3) obtaining a control system kinetic equation through piecewise approximation:

wherein the content of the first and second substances,R₁＝[00],

3. the interrupted milling vibration segmentation control method according to claim 2,

the second step specifically comprises:

the controller is designed as follows:

wherein the content of the first and second substances,

wherein L is_1,iAnd L_2,iAre respectively a function L₁And L₂Is constant in segments, i.e.

4. The interrupted milling vibration segmentation control method according to claim 3,

the third step specifically comprises:

according to the stability theorem, if there is a constant α₀,

μ₁≥1,μ₂≥1,

the control system is stable; wherein p is_kAs an arbitrary orthogonal scalar function, i.e.

F₀＝col{e₁,S₁e₃,S₂e₄,…,S_ne_n+2}

F_1,i＝col{e_0,i,e₁-e₂,S₁(e₁-e₃),S₂(e₁-e₄),…,S_n-1(e₁-e_n+1)}

F_2,i＝col{g_i,0_2nd×2(n+2)d},Ωg_i＝-B(L_1,i-L_2,i)e₁+BL_1,ie₂

α are initialized according to the inequality constraint conditions₀,γ₀Let mu stand for₁＝μ₂＝50，L_1,1＝L_1,2＝L_2,1＝L_2,2Searching a piecewise function L satisfying inequality constraint conditions through iterative computation as 0₁And L₂。

Technical Field

The invention relates to the technical field of numerical control machining vibration active control, in particular to a discontinuous milling vibration sectional control method.

Background

The intermittent milling is a common phenomenon in numerical control milling, is particularly common in light-load processing such as thin-wall part processing, complex curved surface processing and the like, and is characterized in that a rotation period can be divided into two stages, wherein one stage is that cutter teeth are in contact with a workpiece, cutting force exists, forced vibration exists at the moment, the other stage is that the cutter teeth are not in contact with the workpiece, no cutting force exists, and free vibration exists at the moment. On the contrary, the heavy load or large radial cutting and deep processing mode does not have the switching of the two stages, the vibration controller is relatively easy to design, and a relatively mature controller is available at present. Due to the continuous switching of the forced vibration subsystem and the free vibration subsystem in the intermittent milling process, a controller designed for heavy load or large radial cutting depth is difficult to utilize, or control parameters are too conservative, the gain requirement of the controller is too large, and the stable control effect cannot be achieved.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a discontinuous milling vibration sectional control method which can realize active vibration control in a system period under the condition of continuous switching of a forced vibration subsystem and a free vibration subsystem, allows the unstable phenomenon to occur in a forced vibration stage, reduces the gain of a controller and reduces the conservatism of the controller. The technical scheme adopted by the invention is as follows:

a discontinuous milling vibration subsection control method comprises the following steps:

firstly, performing time-lag dynamics modeling and segment approximation on intermittent milling;

designing a controller for integrating time lag feedback and state feedback;

and thirdly, judging the stability and determining the controller parameters based on the linear matrix inequality and the Lyapunov theorem.

The invention has the advantages that: the method is used for light-load processing modes of thin-wall parts, complex curved surfaces, weak cutter rigidity and the like, and has smaller controller gain and higher stability discrimination precision compared with the traditional controller design based on a zero-order approximation system; the controller is in a time-lag state feedback mode, can be implemented on an existing active control structure, and does not need to add an additional sensing or executing device.

Drawings

FIG. 1 is a flow chart of the method of the present invention.

Detailed Description

The invention is further illustrated by the following specific figures and examples.

The embodiment of the invention provides a discontinuous milling vibration subsection control method, which comprises the following steps:

firstly, performing time-lag dynamics modeling and segment approximation on intermittent milling;

the intermittent milling process is divided into a free vibration time period and a forced vibration time period according to the contact state of the cutter and the workpiece, wherein the free vibration time period is naturally stable, and the forced vibration time period is possibly instable; modeling the two states separately, wherein the forced vibration stage makes a linear approximation to the cutting force orientation coefficient for controller design and analysis;

wherein the content of the first and second substances,it is shown that the free vibration phase,representing the forced vibration phase, omega the rotation speed, b the axial cutting depth,the distance between the teeth is indicated by,

indicating a current turning angle, wherein t represents an operating time;and

respectively representing the vibration displacement vectors of the current moment and the previous period;which is indicative of the cyclical cutting load,

representing the orientation coefficient of the cutting force;respectively representing the mass, damping and rigidity of the milling system;

and (3) obtaining a control system kinetic equation through piecewise approximation:

wherein the content of the first and second substances,

designing a controller for integrating time lag feedback and state feedback;

in the forced vibration stage, the cutting force is divided into a steady-state component and a time-lag component, and a controller integrating time-lag feedback and state feedback is designed for the purpose; because the free vibration time interval of the interrupted milling is stable, even if the forced vibration time interval is unstably dispersed, the free vibration time interval can still be stable in the period through the convergence action of the free vibration time interval, so that the control target is stable in the period, and the forced vibration time interval is allowed to be dispersed, thereby reducing the increment and energy input of the controller and reducing the conservatism of the controller; the controller is designed as follows:

wherein the content of the first and second substances,is the control gain associated with the current state,is the gain associated with the state of the previous cycle; the control system dynamics equation becomes:

wherein L is_1,iAnd L_2,iAre respectively a function L₁And L₂Is constant in segments, i.e.

And thirdly, judging the stability and determining the controller parameters based on the linear matrix inequality and the Lyapunov theorem.

Establishing a segmented Lyaponov-Krasovski equation, performing stability analysis by adopting Lyapunov theorem, and obtaining a controller parameter space based on a linear matrix inequality theory.

According to the stabilityTheorem: if there is a constantAnd

(representing a symmetric positive definite matrix) satisfying the following matrix inequality conditions:

the control system is stable; wherein p is_kAs an arbitrary orthogonal scalar function, i.e.

Is a variable ofsym { X } represents a square matrix X + X^T

F_1,i＝col{e_0,i,e₁-e₂,S₁(e₁-e₃),S₂(e₁-e₄),…,S_n-1(e₁-e_n+1)}

α are initialized according to the inequality constraint conditions₀,γ₀Let mu stand for₁＝μ₂＝50，L_1,1＝L_1,2＝L_2,1＝L_2,2Searching a piecewise function L satisfying inequality constraint conditions through iterative computation as 0₁And L₂。

Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.