基于响应信号的数控机床模态参数提取方法研究
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摘要
随着科学技术的发展,机床日益向高速、高效、精密和自动化方向发展,因此对其加工性能的要求也越来越高。为了使机床能够高速、高效、高质量地工作,其结构必须具有良好的动态特性。又由于机床结构的动态特性对其工作性能、效率、稳定性和可靠性等有很大的影响,目前它已经成为衡量机床结构性能好坏的重要指标。因此,提高机床结构的动态性能已经成为机床行业走向现代化的研究课题之一。鉴于此,本文结合国家973计划“高速数控机床动态行为演变及其高精度控制”项目对基于响应信号的机床模态参数提取方法做了研究。本文主要研究成果有:
(1)系统地总结归纳了机床动力学研究概况和模态参数识别技术研究概况。
(2)对机床激振方法做了概括总结,设计了一种利用机床自身随机运动的激振方式,并且对这种激振情况下所采集的信号进行分析,剔除其中的周期信号。验证了剔除周期激励后的激励为随机激励。
(3)研究了一种只基于响应信号的模态参数识别方法(峰值法),并且通过MATLAB软件实现了这种方法,然后对一自由钢梁用两种方法(传统方法和峰值法)进行试验模态分析,通过对传统方法,峰值法分析结果的比较,验证了峰值法的可靠性。
(4)利用机床自身随机运动的激励方式和峰值法对XHK5140机床进行了试验模态分析,得出了机床前几阶模态的固有频率、振型,并且将试验结果和有限元结果进行了比较。
With the developments in science and technology,the machine tool also tends to high-speed, efficient, precise and automation. The requirement of performance is also higher and higher. In order to make machine tool have high-speed,high-efficient and high-quality capability, the structures must have good dynamic characteristics. The dynamic characteristics of machine tool influence the performance , efficiency , stability and reliability of the mechanical structure greatly. It has become an important evaluation target of the performance of machine tool. Therefore,the improvement of the dynamic characteristic has become the most important research subject of the mechanical industry. In this paper, study a method of machine tool’s modal parameters identification based on only response signal. The main work of the article is as follow:
(1) The actuality of dynamic characteristics research for machine tools' structure and the method of Modal parameters identification was analyzed roundly and systematically, and the problem and shortage was pointed out.
(2) Introduced the traditional exciting method for machine tool experimental modal analysized. Designed an exciting method using its own random moving. Analysis the signal was acquisitioned in such circumstances and then Removed the cycle signal.
(3) Studied a method of Modal parameters identification based on only response signal (peak picking method), and realized this method through MATLAB software. And then do experimental modal analysis for a free beam with two method(traditional method and peak picking method),comparison the analysis result of two method,proven the reliability of peak picking method. The weakness of XHK5140 machine tool is revised, implement method of revision is discussed
(1)系统地总结归纳了机床动力学研究概况和模态参数识别技术研究概况。
(2)对机床激振方法做了概括总结,设计了一种利用机床自身随机运动的激振方式,并且对这种激振情况下所采集的信号进行分析,剔除其中的周期信号。验证了剔除周期激励后的激励为随机激励。
(3)研究了一种只基于响应信号的模态参数识别方法(峰值法),并且通过MATLAB软件实现了这种方法,然后对一自由钢梁用两种方法(传统方法和峰值法)进行试验模态分析,通过对传统方法,峰值法分析结果的比较,验证了峰值法的可靠性。
(4)利用机床自身随机运动的激励方式和峰值法对XHK5140机床进行了试验模态分析,得出了机床前几阶模态的固有频率、振型,并且将试验结果和有限元结果进行了比较。
With the developments in science and technology,the machine tool also tends to high-speed, efficient, precise and automation. The requirement of performance is also higher and higher. In order to make machine tool have high-speed,high-efficient and high-quality capability, the structures must have good dynamic characteristics. The dynamic characteristics of machine tool influence the performance , efficiency , stability and reliability of the mechanical structure greatly. It has become an important evaluation target of the performance of machine tool. Therefore,the improvement of the dynamic characteristic has become the most important research subject of the mechanical industry. In this paper, study a method of machine tool’s modal parameters identification based on only response signal. The main work of the article is as follow:
(1) The actuality of dynamic characteristics research for machine tools' structure and the method of Modal parameters identification was analyzed roundly and systematically, and the problem and shortage was pointed out.
(2) Introduced the traditional exciting method for machine tool experimental modal analysized. Designed an exciting method using its own random moving. Analysis the signal was acquisitioned in such circumstances and then Removed the cycle signal.
(3) Studied a method of Modal parameters identification based on only response signal (peak picking method), and realized this method through MATLAB software. And then do experimental modal analysis for a free beam with two method(traditional method and peak picking method),comparison the analysis result of two method,proven the reliability of peak picking method. The weakness of XHK5140 machine tool is revised, implement method of revision is discussed
引文
[1]李斌,李培根.数控技术和装备发展趋势及对策[J] .中国制造业信息化. 2002,4.66～69
[2]孙利.高速切削加工关键技术现状与发展[J].工业技术经济.2002, 4 .128～129
[3]杨传奇.XK717数控机床的动态特性研究.浙江工业大学.硕士学位论文.2006,5. 2～5
[4] Hui Yun Hwang, Hak Gu Lee and Dai Gil Lee .Clamping effects on the dynamic characteristics of composite machine tool structures Composite Structures.Volume 66, Issues 1-4, October-December 2004, Pages 399-407
[5]杨楠,唐恒龄,廖伯瑜.机床动力学(I,II)[M].北京,机械工业出版社. 1983,5.3～17
[6]杜奕.MSY7115平面磨床的试验模态分析及动特性修改.昆明理工大学.硕士学位论文,2004,5. 13～25
[7] S. K. Choudhury, N. N. Goudimenko and V. A. Kudinov .On-line control of machine tool vibration in turning International Journal of Machine Tools and Manufacture, Volume 37, Issue 6, June 1997, Pages 801-811
[8] Mostaka.Yoshimeura. Analysis and optimization ofstructuraldynamics of machine tool by a synthesis of dynamic rigidity program system. MTDR 16th 1975, Pages 81-101
[9]张广鹏,史文浩,黄玉美.机床整机动态特性的预测解析建模方法[J].上海交通大学学报.2001,5.1835～1837
[10]刘晓平,徐燕申,彭泽民等.机械结构结合面阻尼参数识别的研究[J].振动与冲击.1995,2.61～65
[11]陈新,孙庆鸿.高精度内圆磨床整机动力学建模及优化设计[J].东南大学学报,2002,3.35～40
[12]机床设计手册第四册,机床液压、气动部分的设计.北京,机械工业出版社.1997,3.325～345
[13]林循宏.振动模态参数识别及其应用[M].南京,东南大学出版社.1990,5.1～123
[14] S. Vanlanduit, P. Verboven, P. Guillaume and J. Schoukens .An automatic frequency domain modal parameter estimation algorithmJournal of Sound and Vibration, Volume 265, Issue 3, 14 August 2003, Pages 647-661
[15] A.G. Poulimenos and S.D. Fassois .Parametric time-domain methods for non-stationary random vibration modelling and analysis- A critical survey and comparison.Mechanical Systems and Signal Processing, Volume 20, Issue 4, May 2006, Pages 763-816
[16]李德葆,陆秋海.试验模态分析及应用.科学出版社.1992,5.76～89
[17] M. C. Yoon, B. T. Kim and K. H. Kim .Natural mode estimation of cutting dynamics with time series modeling.Journal of Materials Processing Technology, Volumes 155-156, 30 November 2004, Pages 1373-1382
[18]申凡,郑敏,史东锋,等.一种基于互功率谱密度的频域模态识别法[J] .振动工程学报,2001,4.259～262
[19] Chiu Jen Ku, Jack Edward Cermak and Li-Shu Chou.Random decrement based method for modal parameter identification of a dynamic system using acceleration responses. journal of Wind Engineering and Industrial Aerodynamics, Volume 95, Issue 6, June 2007, Pages 389-410
[20]沃德,海伦,等.模态分析理论与试验[M].北京,北京理工大学.2001,6.1～160
[21] P. -E. Gautier, C. Gontier and M. Smail .Robustness of an arma identification method for modal analysis of mechanical systems in the presence of noise .Journal of Sound and Vibration, Volume 179, Issue 2, 12 January 1995, Pages 227-242.
[22]常军.随机子空间法结构模态参数识别方法的应用.地震工程与工程振动.2004,5.65～68
[23]杨景义,王信义.试验模态分析[M].北京,北京理工大学出版社,1990.
[24] Nguyen Nguyen Minh, Toshio Miyata, Hitoshi Yamada and Yoshihiro Sanada .Numerical simulation of wind turbulence and buffeting analysis of long-span bridgesJournal of Wind. Engineering and Industrial Aerodynamics, Volume 83, Issues 1-3, November 1999, Pages 301-315
[25]金新灿.环境激励下高速客车的工作模态分析.振动工程学报2003 ,14 (3) .259～262.
[26]孙建刚.基于环境振动的实验模态分析方法研究.哈尔滨工业大学.硕士学位论文.2006,5. 23～46
[27]曹树谦.振动结构模态分析理论、实验与应用.天津大学出版社,2001,5. 1～25
[28] LMS CADA-X3.5.user manual 1996.3
[29]黄爱萍.数字信号处理.北京机械工业出版社.1991,5. 25～97
[30]刘齐茂.随机减量法及IDT法识别模态参数.广西工学院学报.2002,12. 23～25
[31]孟庆丰.随机减量技术中周期信号的影响和消除方法.振动与冲击2003,1. 16～19
[32] Vandiver J K,Dunwoody A B ,Campbell R B ,Cook M F. A mathe2 matical basis for the random decrement vibration signature analysis technique. ASME Trans. Journal of Mechanical Design , 1982 , 104 (4) :307—313
[33] Taehyoun Kim. Frequency-domain Karhunen-loeve method and its application to linear dynamic systems[J]. AIAA Journal. 1998:342~373
[34]潘宏良.基于ODS随机子空间的模态分析研究.哈尔滨工业大学.硕士学位论文.2006,5.6～28
[35]陈玉东,数字信号处理,地址大学出版社.2001,5.1～25
[36]王济,胡晓等.MATLAB在振动信号处理中的应用,中国水利电力出版社,2006,5.1～75
[37] MATLAB Help document. The Mathworks.inc,2001
[38]吴正毅.测试技术与信号处理.北京,清华大学出版社.1991,3. 78～96
[39] A. Ertürk, H.N. ?zgüven and E. Budak .Analytical modeling of spindle–tool dynamics on machine tools using Timoshenko beam model and receptance coupling for the prediction of tool point FRF.International Journal of Machine Tools and Manufacture, Volume 46, Issue 15, December 2006, Pages 1901-1912
[40]梁志强.加工中心整机实验模态分析及主要结合部参数识别方法研究.昆明理工大学,硕士学位论文,2003,5. 25～43
[41]范培清. BKX_1并联机床的结构参数对机床模态的影响分析.现代制造工程,2005,9. 23～25
[42]李秀英,滕弘飞.机床优化设计.机械工业出版社.1989,6.1～59
[2]孙利.高速切削加工关键技术现状与发展[J].工业技术经济.2002, 4 .128～129
[3]杨传奇.XK717数控机床的动态特性研究.浙江工业大学.硕士学位论文.2006,5. 2～5
[4] Hui Yun Hwang, Hak Gu Lee and Dai Gil Lee .Clamping effects on the dynamic characteristics of composite machine tool structures Composite Structures.Volume 66, Issues 1-4, October-December 2004, Pages 399-407
[5]杨楠,唐恒龄,廖伯瑜.机床动力学(I,II)[M].北京,机械工业出版社. 1983,5.3～17
[6]杜奕.MSY7115平面磨床的试验模态分析及动特性修改.昆明理工大学.硕士学位论文,2004,5. 13～25
[7] S. K. Choudhury, N. N. Goudimenko and V. A. Kudinov .On-line control of machine tool vibration in turning International Journal of Machine Tools and Manufacture, Volume 37, Issue 6, June 1997, Pages 801-811
[8] Mostaka.Yoshimeura. Analysis and optimization ofstructuraldynamics of machine tool by a synthesis of dynamic rigidity program system. MTDR 16th 1975, Pages 81-101
[9]张广鹏,史文浩,黄玉美.机床整机动态特性的预测解析建模方法[J].上海交通大学学报.2001,5.1835～1837
[10]刘晓平,徐燕申,彭泽民等.机械结构结合面阻尼参数识别的研究[J].振动与冲击.1995,2.61～65
[11]陈新,孙庆鸿.高精度内圆磨床整机动力学建模及优化设计[J].东南大学学报,2002,3.35～40
[12]机床设计手册第四册,机床液压、气动部分的设计.北京,机械工业出版社.1997,3.325～345
[13]林循宏.振动模态参数识别及其应用[M].南京,东南大学出版社.1990,5.1～123
[14] S. Vanlanduit, P. Verboven, P. Guillaume and J. Schoukens .An automatic frequency domain modal parameter estimation algorithmJournal of Sound and Vibration, Volume 265, Issue 3, 14 August 2003, Pages 647-661
[15] A.G. Poulimenos and S.D. Fassois .Parametric time-domain methods for non-stationary random vibration modelling and analysis- A critical survey and comparison.Mechanical Systems and Signal Processing, Volume 20, Issue 4, May 2006, Pages 763-816
[16]李德葆,陆秋海.试验模态分析及应用.科学出版社.1992,5.76～89
[17] M. C. Yoon, B. T. Kim and K. H. Kim .Natural mode estimation of cutting dynamics with time series modeling.Journal of Materials Processing Technology, Volumes 155-156, 30 November 2004, Pages 1373-1382
[18]申凡,郑敏,史东锋,等.一种基于互功率谱密度的频域模态识别法[J] .振动工程学报,2001,4.259～262
[19] Chiu Jen Ku, Jack Edward Cermak and Li-Shu Chou.Random decrement based method for modal parameter identification of a dynamic system using acceleration responses. journal of Wind Engineering and Industrial Aerodynamics, Volume 95, Issue 6, June 2007, Pages 389-410
[20]沃德,海伦,等.模态分析理论与试验[M].北京,北京理工大学.2001,6.1～160
[21] P. -E. Gautier, C. Gontier and M. Smail .Robustness of an arma identification method for modal analysis of mechanical systems in the presence of noise .Journal of Sound and Vibration, Volume 179, Issue 2, 12 January 1995, Pages 227-242.
[22]常军.随机子空间法结构模态参数识别方法的应用.地震工程与工程振动.2004,5.65～68
[23]杨景义,王信义.试验模态分析[M].北京,北京理工大学出版社,1990.
[24] Nguyen Nguyen Minh, Toshio Miyata, Hitoshi Yamada and Yoshihiro Sanada .Numerical simulation of wind turbulence and buffeting analysis of long-span bridgesJournal of Wind. Engineering and Industrial Aerodynamics, Volume 83, Issues 1-3, November 1999, Pages 301-315
[25]金新灿.环境激励下高速客车的工作模态分析.振动工程学报2003 ,14 (3) .259～262.
[26]孙建刚.基于环境振动的实验模态分析方法研究.哈尔滨工业大学.硕士学位论文.2006,5. 23～46
[27]曹树谦.振动结构模态分析理论、实验与应用.天津大学出版社,2001,5. 1～25
[28] LMS CADA-X3.5.user manual 1996.3
[29]黄爱萍.数字信号处理.北京机械工业出版社.1991,5. 25～97
[30]刘齐茂.随机减量法及IDT法识别模态参数.广西工学院学报.2002,12. 23～25
[31]孟庆丰.随机减量技术中周期信号的影响和消除方法.振动与冲击2003,1. 16～19
[32] Vandiver J K,Dunwoody A B ,Campbell R B ,Cook M F. A mathe2 matical basis for the random decrement vibration signature analysis technique. ASME Trans. Journal of Mechanical Design , 1982 , 104 (4) :307—313
[33] Taehyoun Kim. Frequency-domain Karhunen-loeve method and its application to linear dynamic systems[J]. AIAA Journal. 1998:342~373
[34]潘宏良.基于ODS随机子空间的模态分析研究.哈尔滨工业大学.硕士学位论文.2006,5.6～28
[35]陈玉东,数字信号处理,地址大学出版社.2001,5.1～25
[36]王济,胡晓等.MATLAB在振动信号处理中的应用,中国水利电力出版社,2006,5.1～75
[37] MATLAB Help document. The Mathworks.inc,2001
[38]吴正毅.测试技术与信号处理.北京,清华大学出版社.1991,3. 78～96
[39] A. Ertürk, H.N. ?zgüven and E. Budak .Analytical modeling of spindle–tool dynamics on machine tools using Timoshenko beam model and receptance coupling for the prediction of tool point FRF.International Journal of Machine Tools and Manufacture, Volume 46, Issue 15, December 2006, Pages 1901-1912
[40]梁志强.加工中心整机实验模态分析及主要结合部参数识别方法研究.昆明理工大学,硕士学位论文,2003,5. 25～43
[41]范培清. BKX_1并联机床的结构参数对机床模态的影响分析.现代制造工程,2005,9. 23～25
[42]李秀英,滕弘飞.机床优化设计.机械工业出版社.1989,6.1～59