机床固定结合部动力学参数识别的研究
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摘要
当今，装备制造工业正在迅猛发展，对数控机床的加工性能也提出了更高的要求，尤其是机床本身的动态性能。根据研究表明，机床结合部所产生的刚度和阻尼对机床整体的动态性能具有显著的影响。如何在设计阶段准确预测机床整机的动力学参数，成为机床设计和改造过程中首要解决的关键问题，然而机床动力学建模过程中结合面的处理，一直是影响机床动态设计和仿真的关键难题。基于这一关键问题，本文进行了如下研究：
建立了机床常见螺栓联接固定结合部单元的等效动力学模型。该模型充分考虑了结合面单元各节点自由度之间的耦合关系，能够准确的模拟结合面的动态性能，提高机床整机的仿真精度。
基于单位面积结合面动态特性参数的实验基础，用吉村允孝法来识别结合面动态参数。首先，建立了结合面的动力学模型，然后，利用吉村允孝法识别含有结合部的机床实际结构的法向和切向刚度与阻尼值；利用识别得到的参数在有限元软件中进行建模，对其装配体进行模态分析。
利用DASP模态测试系统对机床整机进行模态试验，将获得的频响函数进行试验模态分析，获得含有固定结合部的装配体的固有频率和阻尼比，得到机床整机的振型图。在振型相似的基础上，以模态试验的结果为基准，将有限元模态分析的固有频率与模态试验进行对比，来验证此方法的有效性。
用上述方法来识别机床固定结合部参数，可以减少做大量实验，还能保证识别精度，可以直接运用于实际的机床结构上，为机床结构的改造和优化提供了重要依据。
Today, the equipment manufacturing industry is developing rapidly, the processingperformance of CNC machine tools also put forward higher requirements, especially thedynamic performance of machine tools itself. Studies have shown that the joints of machinetools have signicant influence on the dynamic behaviour of machine tools due to creation ofstiffness and damping. How to predict the kinetic parameters of machine tools accurately atthe design stage is the primary key issues to resolve during the process of machine tools`design and reconstruction. However, the processing of joints has been the key problems toinfluence the dynamic design and simulation accuracy in the dynamic modeling of machinetools. Based on this critical issue, this paper carried out the following research:
Establish a bolted-joint element model which is the common representative joints in themachine structure. This model took the coupling relationship between the DOFs of everynode of joint element into account, which can simulate the dynamic characteristics of jointsmore accurately and improve the simulation accuracy of machine tools.
Based on the dynamic characteristics of experiments in the unit area of joint surface,using the Ji-cun-yun-xiao method to identify the dynamic parameters of the joint surface. Firstof all, establish the dynamic model of the joint surface; secondly using the Ji-cun-yun-xiaomethod to identify the normal and tangential stiffness and damping of machine tools whichhave the joint surface; then we will model and modal analysis to machine tools in the finiteelement analysis software using the parameters which are get by the Ji-cun-yun-xiao method.
Modal test on the machine tools by using the DASP modal test system to get the naturalfrequency and damping ratio from a fixed combination of machine tool by analysising thefrequency response function that was measured, so we could get the modal graph of themachine tool. Contrast to the natural frequency of the finite element modal analysis andmodal testing to verify the effectiveness of this method using modal test results as abenchmark when the modal graph are similar.
It can reduce the experimental and ensure accuracy by using this method to identifyparameters for a fixed junction of machine tools, this method which provide an importantbasis for transformation and optimization of machine tools can be directly applied to theactual structure of machine tools.
建立了机床常见螺栓联接固定结合部单元的等效动力学模型。该模型充分考虑了结合面单元各节点自由度之间的耦合关系，能够准确的模拟结合面的动态性能，提高机床整机的仿真精度。
基于单位面积结合面动态特性参数的实验基础，用吉村允孝法来识别结合面动态参数。首先，建立了结合面的动力学模型，然后，利用吉村允孝法识别含有结合部的机床实际结构的法向和切向刚度与阻尼值；利用识别得到的参数在有限元软件中进行建模，对其装配体进行模态分析。
利用DASP模态测试系统对机床整机进行模态试验，将获得的频响函数进行试验模态分析，获得含有固定结合部的装配体的固有频率和阻尼比，得到机床整机的振型图。在振型相似的基础上，以模态试验的结果为基准，将有限元模态分析的固有频率与模态试验进行对比，来验证此方法的有效性。
用上述方法来识别机床固定结合部参数，可以减少做大量实验，还能保证识别精度，可以直接运用于实际的机床结构上，为机床结构的改造和优化提供了重要依据。
Today, the equipment manufacturing industry is developing rapidly, the processingperformance of CNC machine tools also put forward higher requirements, especially thedynamic performance of machine tools itself. Studies have shown that the joints of machinetools have signicant influence on the dynamic behaviour of machine tools due to creation ofstiffness and damping. How to predict the kinetic parameters of machine tools accurately atthe design stage is the primary key issues to resolve during the process of machine tools`design and reconstruction. However, the processing of joints has been the key problems toinfluence the dynamic design and simulation accuracy in the dynamic modeling of machinetools. Based on this critical issue, this paper carried out the following research:
Establish a bolted-joint element model which is the common representative joints in themachine structure. This model took the coupling relationship between the DOFs of everynode of joint element into account, which can simulate the dynamic characteristics of jointsmore accurately and improve the simulation accuracy of machine tools.
Based on the dynamic characteristics of experiments in the unit area of joint surface,using the Ji-cun-yun-xiao method to identify the dynamic parameters of the joint surface. Firstof all, establish the dynamic model of the joint surface; secondly using the Ji-cun-yun-xiaomethod to identify the normal and tangential stiffness and damping of machine tools whichhave the joint surface; then we will model and modal analysis to machine tools in the finiteelement analysis software using the parameters which are get by the Ji-cun-yun-xiao method.
Modal test on the machine tools by using the DASP modal test system to get the naturalfrequency and damping ratio from a fixed combination of machine tool by analysising thefrequency response function that was measured, so we could get the modal graph of themachine tool. Contrast to the natural frequency of the finite element modal analysis andmodal testing to verify the effectiveness of this method using modal test results as abenchmark when the modal graph are similar.
It can reduce the experimental and ensure accuracy by using this method to identifyparameters for a fixed junction of machine tools, this method which provide an importantbasis for transformation and optimization of machine tools can be directly applied to theactual structure of machine tools.
引文
[1]王润生.机械制造业的发展趋势及对策.机械制造，1998，（8）
[2] M P Dolbey, R Bell. The Contact Stiffness of Joints at Low Apparent Interface Pressure.In: Annals of CIRP,1970
[3] Kirsanova V N. The Shear Compliance of Flat Joints. Machines and Tooling,1967,(7):23
[4] C Andrew, J A Cockburn, A E Waring. Metal Surfaces in Contact under NormalForces-Some Dynamic Stiffness and Damping Characteristics. In: Proc Instn MechEngrs,1967-68,(3K):92-100
[5] P F Roger, G Boothroyd. Damping at Metallic Interfaces Subjected to OscillatingTangential Loads. J Eng for Industry, Trans ASME,1975:1087-1093
[6] C Dekoninck. Deformation Properties of Metallic Contact Surfaces of Joints under theInfluence of Dynamic Tangential Loads. Int J Mach Des Res,1972:193-199
[7]堤正臣，伊东谊，益子正已.机床螺栓结合部的动态特性—固体接触状态（日）.精密机械，1977，（1）：105-111
[8] S.Talyor. Computer study of milling machine. M.T.D.R,1974,(15)
[9] J.A.W.Hjink. Analysis of A milling machine: Computer results Versus Experiment Date.M.T.D.R,1973,(14)
[10]刘晓平，徐燕申等.模态分析和有限元法结合识别机械结构结合面动力学参数的研究.应用力学学报，1993，（12）
[11]刘晓平，徐燕申等.机械结构结合面阻尼参数识别的研究.振动与冲击，1995，（14）
[12]童忠钫，张杰.加工中心立柱床身结合面动态特性研究及参数识别.振动与冲击，1992，（2）
[13] Yuan J X. Identification of the Joint Structural Parameters of Machine Tool by DDS andFEM. Transaction of the ASME, J. of Engineering for Industry,107(1):64-70
[14]陈新，冯文贤，张宗兰.机械结合部刚度、阻尼参数识别方法的研究.振动与冲击，1994,（4）：62-66
[15]张宇，寥伯瑜.机床床身立柱结合面参数识别的研究.北京工业大学学报，1999，Vol.25, No.1:44-49
[16]张杰.复杂机械结构结合面动力学建模及其参数识别方法的研究.机械强度，1996，18（2）：1-5
[17]黄旭东等.主轴部件动态特性的试验研究.北京工业大学学报，1994，（9）
[18]张学良，温淑花.结合部切向接触刚度分形模型研究.应用力学学报，2003，20（1）：70-72
[19] Huang Yumei, Fu Weiping, Tong Junxian. A Method of Acquiring Applied TangentialDamping Parameters of Joint Surfaces. Journal of Xi’an University,1996,12(1):1-5
[20]张广鹏，王海丽，胡兆燕等.基于结合面基础特性参数的机床导轨结合部动态特性解析方法.江苏机械制造与自动化，2001，4：72-75
[21]廖伯瑜，周新民，尹志宏.现代机械动力学及其工程应用.北京：机械工业出版社，2004，232-278
[22]唐照千，黄文虎.振动与冲击手册(第一卷).北京：国防工业出版社，1998
[23]徐燕申.机械振动设计.北京：机械工业出版社，1992
[24]夏益霖.结构有限元模型修正频响函数方法.振动工程学报，1993，6（4）：369-376
[25]张方，朱德懋，张福祥.动载荷识别的时间有限元模型理论及其应用.振动与冲击，1998，17（2）：1-4
[26]周强.钢丝绳隔振器的非线性及其应用.噪声与振动控制.1994，21（4）：8-11
[27] Den Hartog J P. Forced Vibration With combined column and viscous friction.Transactions of the ASME A PM.1931,53(9):107-115
[28] Jwan W D. The Dynamic Response of Bilinear Hysteretic Systems. California Instituteof Sound and Vibration.1984,124(2):207-222
[29] Fem A A, Dowell E H. Frequency domain solution to multi-degree-of-free dorm, dryfriction damped systems, J of alarge analytical model using test data.AIAAJ,1983,21(8):1168-1173
[30] Berman A. Nagg EJ Improvement of a large analytical model using test data. AIAAJ,1983,21(8):1168-1173
[31]胡海岩.振动控制中的非线性组合结构动力学研究：[博士论文].南京：南京航空学院学报，1999
[32]董智法，申仲翰.干摩擦系统在基础位移冲击激励的特性.应用力学学报，1989，13（4）：107-110
[33]田千里，高赞明，倪一清.用钢丝绳减震器控制结构振动.机械强度，1991，13（4）：7-10
[34]谢能刚等.多自由度结构受迫振动中的能量共振.振动与冲击，2002，21（3）：40-43
[35]戴维.丁.哈托.振动分析矩阵计算的方法.北京：机械工业出版社，2002
[36]曹树谦，张文德，萧龙翔.振动结构模态分析，天津：天津大学出版社，2001，33-46
[37]萧龙翔.振动结构模态分析基础，天津：天津大学力学系，1991，75-101
[38]傅志方.振动模态分析与参数识别，北京：机械工业出版社，1990，88-145
[39]张学良，黄玉美.机床结合面静态基础特性参数的建模及其应用.制造技术与机床，1997，11：8-10
[40]吴筱坚.机床固定结合面的一种建模方法.机械科学与技术（西安），2001，Vol.21,No.3：439-441
[41] Y. Song, C. J. Hartwigsen, D. M. McFarland etc. Simulation of Dynamics of BeamStructures with Bolted Joints Using Adjusted IWAN Beam Elements. SDOL, Journal ofSound and Vibration.2004,Vol.273,249-276
[42] Crawley, E. F., Aubert, A. C..Identification of Nonlinear Structural Element ByForce-State Mapping. AIAA Journal,1986,Vol.24,No.1:155-162
[43] Burdekin, M., Back, N., and Cowley, A..Experimental Study of Normal and ShearCharacteristics of Machined Surface in Contact. Journal of Mechanical EngineeringScience,1978,Vol.20,No.3:129-132
[44] J. H. Wang and C. M. Liou. Identification of Parameters of Structural Joints by UseNoise-Contaminated FRFs. Journal of Sound&Vibration.1990,Vol.142,261-277
[45] Ren Y, Beards C F. On the Importance of Weighting FRF Joint Identification.Proceeding of11thInternational Modal Analysis Conference,1993,1606-1611
[46]陈新，王德石等.广义结构结合面参数辨识公式及算法.航空学报，1994，11：11-15
[47]杨家华，管华.机床床身立柱结合面参数识别的研究.北京工业大学学报，1999，Vol.25, No.1：44-49
[48]韩会斌.机床结合面阻尼系统识别研究：[北京工业大学硕士学位论文].北京：北京工业大学，2001
[49]张学良，黄玉美，傅卫平等.机械结合面阻尼参数识别的一种方法.西安理工大学学报，1999，15（1）：98-100
[50]张学良，黄玉美.机械结合部动态特性参数识别的优化方法.太原重型机械学院学报，1995，16（4）：314-318
[51]黄玉美，董立新，董献国等.机械平面结合部静特性的研究及其在机床CAD中的应用.工程力学，1995，12（1）：66-71
[52]陈新，刘泽民，罗鸿等.基于实验模态参数的结构多层结合面参数识别.实验力学，1995，10（2）：172-180
[2] M P Dolbey, R Bell. The Contact Stiffness of Joints at Low Apparent Interface Pressure.In: Annals of CIRP,1970
[3] Kirsanova V N. The Shear Compliance of Flat Joints. Machines and Tooling,1967,(7):23
[4] C Andrew, J A Cockburn, A E Waring. Metal Surfaces in Contact under NormalForces-Some Dynamic Stiffness and Damping Characteristics. In: Proc Instn MechEngrs,1967-68,(3K):92-100
[5] P F Roger, G Boothroyd. Damping at Metallic Interfaces Subjected to OscillatingTangential Loads. J Eng for Industry, Trans ASME,1975:1087-1093
[6] C Dekoninck. Deformation Properties of Metallic Contact Surfaces of Joints under theInfluence of Dynamic Tangential Loads. Int J Mach Des Res,1972:193-199
[7]堤正臣，伊东谊，益子正已.机床螺栓结合部的动态特性—固体接触状态（日）.精密机械，1977，（1）：105-111
[8] S.Talyor. Computer study of milling machine. M.T.D.R,1974,(15)
[9] J.A.W.Hjink. Analysis of A milling machine: Computer results Versus Experiment Date.M.T.D.R,1973,(14)
[10]刘晓平，徐燕申等.模态分析和有限元法结合识别机械结构结合面动力学参数的研究.应用力学学报，1993，（12）
[11]刘晓平，徐燕申等.机械结构结合面阻尼参数识别的研究.振动与冲击，1995，（14）
[12]童忠钫，张杰.加工中心立柱床身结合面动态特性研究及参数识别.振动与冲击，1992，（2）
[13] Yuan J X. Identification of the Joint Structural Parameters of Machine Tool by DDS andFEM. Transaction of the ASME, J. of Engineering for Industry,107(1):64-70
[14]陈新，冯文贤，张宗兰.机械结合部刚度、阻尼参数识别方法的研究.振动与冲击，1994,（4）：62-66
[15]张宇，寥伯瑜.机床床身立柱结合面参数识别的研究.北京工业大学学报，1999，Vol.25, No.1:44-49
[16]张杰.复杂机械结构结合面动力学建模及其参数识别方法的研究.机械强度，1996，18（2）：1-5
[17]黄旭东等.主轴部件动态特性的试验研究.北京工业大学学报，1994，（9）
[18]张学良，温淑花.结合部切向接触刚度分形模型研究.应用力学学报，2003，20（1）：70-72
[19] Huang Yumei, Fu Weiping, Tong Junxian. A Method of Acquiring Applied TangentialDamping Parameters of Joint Surfaces. Journal of Xi’an University,1996,12(1):1-5
[20]张广鹏，王海丽，胡兆燕等.基于结合面基础特性参数的机床导轨结合部动态特性解析方法.江苏机械制造与自动化，2001，4：72-75
[21]廖伯瑜，周新民，尹志宏.现代机械动力学及其工程应用.北京：机械工业出版社，2004，232-278
[22]唐照千，黄文虎.振动与冲击手册(第一卷).北京：国防工业出版社，1998
[23]徐燕申.机械振动设计.北京：机械工业出版社，1992
[24]夏益霖.结构有限元模型修正频响函数方法.振动工程学报，1993，6（4）：369-376
[25]张方，朱德懋，张福祥.动载荷识别的时间有限元模型理论及其应用.振动与冲击，1998，17（2）：1-4
[26]周强.钢丝绳隔振器的非线性及其应用.噪声与振动控制.1994，21（4）：8-11
[27] Den Hartog J P. Forced Vibration With combined column and viscous friction.Transactions of the ASME A PM.1931,53(9):107-115
[28] Jwan W D. The Dynamic Response of Bilinear Hysteretic Systems. California Instituteof Sound and Vibration.1984,124(2):207-222
[29] Fem A A, Dowell E H. Frequency domain solution to multi-degree-of-free dorm, dryfriction damped systems, J of alarge analytical model using test data.AIAAJ,1983,21(8):1168-1173
[30] Berman A. Nagg EJ Improvement of a large analytical model using test data. AIAAJ,1983,21(8):1168-1173
[31]胡海岩.振动控制中的非线性组合结构动力学研究：[博士论文].南京：南京航空学院学报，1999
[32]董智法，申仲翰.干摩擦系统在基础位移冲击激励的特性.应用力学学报，1989，13（4）：107-110
[33]田千里，高赞明，倪一清.用钢丝绳减震器控制结构振动.机械强度，1991，13（4）：7-10
[34]谢能刚等.多自由度结构受迫振动中的能量共振.振动与冲击，2002，21（3）：40-43
[35]戴维.丁.哈托.振动分析矩阵计算的方法.北京：机械工业出版社，2002
[36]曹树谦，张文德，萧龙翔.振动结构模态分析，天津：天津大学出版社，2001，33-46
[37]萧龙翔.振动结构模态分析基础，天津：天津大学力学系，1991，75-101
[38]傅志方.振动模态分析与参数识别，北京：机械工业出版社，1990，88-145
[39]张学良，黄玉美.机床结合面静态基础特性参数的建模及其应用.制造技术与机床，1997，11：8-10
[40]吴筱坚.机床固定结合面的一种建模方法.机械科学与技术（西安），2001，Vol.21,No.3：439-441
[41] Y. Song, C. J. Hartwigsen, D. M. McFarland etc. Simulation of Dynamics of BeamStructures with Bolted Joints Using Adjusted IWAN Beam Elements. SDOL, Journal ofSound and Vibration.2004,Vol.273,249-276
[42] Crawley, E. F., Aubert, A. C..Identification of Nonlinear Structural Element ByForce-State Mapping. AIAA Journal,1986,Vol.24,No.1:155-162
[43] Burdekin, M., Back, N., and Cowley, A..Experimental Study of Normal and ShearCharacteristics of Machined Surface in Contact. Journal of Mechanical EngineeringScience,1978,Vol.20,No.3:129-132
[44] J. H. Wang and C. M. Liou. Identification of Parameters of Structural Joints by UseNoise-Contaminated FRFs. Journal of Sound&Vibration.1990,Vol.142,261-277
[45] Ren Y, Beards C F. On the Importance of Weighting FRF Joint Identification.Proceeding of11thInternational Modal Analysis Conference,1993,1606-1611
[46]陈新，王德石等.广义结构结合面参数辨识公式及算法.航空学报，1994，11：11-15
[47]杨家华，管华.机床床身立柱结合面参数识别的研究.北京工业大学学报，1999，Vol.25, No.1：44-49
[48]韩会斌.机床结合面阻尼系统识别研究：[北京工业大学硕士学位论文].北京：北京工业大学，2001
[49]张学良，黄玉美，傅卫平等.机械结合面阻尼参数识别的一种方法.西安理工大学学报，1999，15（1）：98-100
[50]张学良，黄玉美.机械结合部动态特性参数识别的优化方法.太原重型机械学院学报，1995，16（4）：314-318
[51]黄玉美，董立新，董献国等.机械平面结合部静特性的研究及其在机床CAD中的应用.工程力学，1995，12（1）：66-71
[52]陈新，刘泽民，罗鸿等.基于实验模态参数的结构多层结合面参数识别.实验力学，1995，10（2）：172-180