CNC machine tool vibration measurement and control technology

2. Estimating TCP speed verification based on DAS acceleration sensor

Through the acceleration sensor's DAS API library, the acceleration information of the acquired acceleration sensor can be estimated by Bayesian estimation and sensor fusion algorithm for tool center point TCP speed. In order to verify the validity of the acceleration sensor's estimation of the TCP speed, an experimental test was conducted. In the operation of the CNC machine tool, the acceleration of the tool center point TCP is read into the Orchestra motion control platform by the DAS acceleration sensor for speed estimation, and the estimated result is compared with the result measured by the laser tracker, and the verification based acceleration sensor has been achieved. Estimate the effectiveness of TCP speed (experimental model shown in Figure 3). It should be noted that the DAS accelerometer is mainly installed near the tool center point TCP.

Figure 3. Estimation of TCP speed feasibility based on acceleration sensor

When the CNC machine tool performs the rhombic motion trajectory, the TCP speed is estimated by the DAS accelerometer and the TCP speed is measured online by the laser tracker. The test condition is the acceleration value of 7 m/s^2 and the jerk value of 80 m/s^3. Compare Figure 4 (blue line-acceleration sensor Bayesian estimation and fusion algorithm, green line - only using rotary encoder to estimate speed, red line - true speed measured by laser interferometer).

Figure 4. Feasibility verification results for estimating TCP speed based on acceleration sensor

As shown in the experimental results, the TCP velocity values ​​estimated by the Bayesian estimation and fusion algorithm of the acceleration sensor can accurately reflect the actual motion speed of the machine tool TCP.

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