Time domain coupled simulation of machine tool dynamics and cutting forces considering the influences of nonlinear friction characteristics and process damping

A higher machining ability is always required for NC machine tools to achieve higher productivity. The self-oscillated vibration called “chatter” is a well-known and significant problem that increases the metal removal rate. The generation process of the chatter vibration can be described as a relationship between cutting force and machine tool dynamics. The characteristics of machine tool feed drives are influenced by the nonlinear friction characteristics of the linear guides. Hence, the nonlinear friction characteristics are expected to affect the machining ability of machines. The influence of the contact between the cutting edge and the workpiece (i.e., process damping) on to the machining ability has also been investigated. This study tries to clarify the influence of the nonlinear friction characteristics of linear guides and ball screws and process damping onto milling operations. A vertical-type machining center is modeled by a multi-body dynamics model with nonlinear friction models. The influence of process damping onto the machine tool dynamics is modeled as stiffness and damping between the tool and the workpiece based on the evaluated frequency response during the milling operation. A time domain-coupled simulation approach between the machine tool behavior and the cutting forces is performed by using the machine tool dynamics model. The simulation results confirm that the nonlinear frictions influence the cutting forces with an effect to suppress the chatter vibration. Furthermore, the influence of process damping can be evaluated by the proposed measurement method and estimated by a time domain simulation.     

Extension of process damping to milling with low radial immersion

This paper investigates the stabilizing effect of process damping at low cutting speeds for regenerative machine tool vibrations of milling processes. The process damping is induced by a velocity-dependent cutting force model, which takes into account that the actual cutting velocity is different from the nominal one during machine tool vibrations. The chip thickness and the cutting force are calculated according to the direction of the actual cutting velocity. This results in an additional damping term in the governing delay-differential equation, which is time-periodic for milling and inversely proportional to the cutting speed. In the literature, this term is often assumed to be constant and is considered to improve stability properties at low spindle speeds. In this paper, it is shown that the velocity-dependent cutting force model captures the improvement in the low-speed stability only for turning operations and milling with large radial immersion, while it results in a negative process damping term for low-immersion milling. Consequently, an extended process damping model is needed to explain the low-speed stability improvement for low radial immersion milling.     

Tool paths and cutting technology in computer-aided process planning

This paper reports on the development of a module to calculate automatically tool paths and cutting conditions for metal cutting operations. Process planning must select correct cutting conditions to minimise disturbances on the shop floor owing to tooling problems. Tool path and cutting condition algorithms to generate reliable NC programs have been designed. The algorithms have been implemented in the framework of a generative computer-aided process planning system, called PART. Geometrical requirements to avoid chipping of cutting teeth are considered in tool-path calculation. The cutting conditions are calculated using metal cutting process models. A method has been developed to calculate cutting forces for milling operations based on experimental data of cutting forces in turning. In the process models, various constraints of the machine tool, cutting tool, and the workpiece are considered.     

THE UNIFIED-GENERALIZED MECHANICS OF CUTTING APPROACH—A STEP TOWARDS A HOUSE OF PREDICTIVE PERFORMANCE MODELS FOR MACHINING OPERATIONS

This paper presents the series of on-going investigations, which led to the development of the 'Unified-Generalized Mechanics of Cutting Approach' to predictive modelling of various technological performance measures for the wide spectrum of machining operations used in practice. It is shown that this approach involved the development of generalized mechanics of cutting analyses of the cutting processes for machining with single edge and multi-edge (form) tools and the establishment of a generic database of basic cutting quantities and edge force coefficients. This was followed by the development of a methodology for modelling each machining operation used in practice, based on the generalized cutting analyses and database. The models developed for turning, drilling and milling operations as well as machining with form tools and the novel rotary tool turning operations are briefly described together with recent research on predictive modelling of ball end-milling and machine tapping operations. It is shown that the models for the different machining operations could be 'unified' into a modular computer application structure, drawing on the generic cutting analyses and database. This 'unified' approach could represent a step towards the development of a 'House of Predictive Models' sought by the CIRP Working Group on modelling of machining operations. The considerable scope for further research is discussed in this paper.     

Progressive development of an absolute sensorless compensation system for cutting force-induced error

Cutting forces in traditional machining processes solely originates from the contact points on the cutting tool and workpiece. Therefore comprehensive mechanistic modeling of the machining process offers a means for realizing a sensorless cutting force monitoring system. This paper presents the progressive development of a sensorless compensation system for cutting force-induced error, whereby a learning and intelligent computer system is established, based on machining mechanics modeling and a reference compensation system. Experiences from normal machining sessions of new cutting tools and workpieces are modeled progressively and incorporated into the system. Finally with ample experience available, a full-fledged sensorless system is developed as a stand-alone solution. The sensorless system is economical, convenient, reliable and efficient. Administered on a CNC face milling machine, the model demonstrated exceptional performance and robustness.     

THE UNIFIED-GENERALIZED MECHANICS OF CUTTING APPROACH—A STEP TOWARDS A HOUSE OF PREDICTIVE PERFORMANCE MODELS FOR MACHINING OPERATIONS

Abstract

This paper presents the series of on-going investigations, which led to the development of the ‘Unified-Generalized Mechanics of Cutting Approach’ to predictive modelling of various technological performance measures for the wide spectrum of machining operations used in practice. It is shown that this approach involved the development of generalized mechanics of cutting analyses of the cutting processes for machining with single edge and multi-edge (form) tools and the establishment of a generic database of basic cutting quantities and edge force coefficients. This was followed by the development of a methodology for modelling each machining operation used in practice, based on the generalized cutting analyses and database. The models developed for turning, drilling and milling operations as well as machining with form tools and the novel rotary tool turning operations are briefly described together with recent research on predictive modelling of ball end-milling and machine tapping operations. It is shown that the models for the different machining operations could be ‘unified’ into a modular computer application structure, drawing on the generic cutting analyses and database. This ‘unified’ approach could represent a step towards the development of a ‘House of Predictive Models’ sought by the CIRP Working Group on modelling of machining operations. The considerable scope for further research is discussed in this paper.     

Optimization of machining parameters using genetic algorithm and experimental validation for end-milling operations

Optimization of cutting parameters is valuable in terms of providing high precision and efficient machining. Optimization of machining parameters for milling is an important step to minimize the machining time and cutting force, increase productivity and tool life and obtain better surface finish. In this work a mathematical model has been developed based on both the material behavior and the machine dynamics to determine cutting force for milling operations. The system used for optimization is based on powerful artificial intelligence called genetic algorithms (GA). The machining time is considered as the objective function and constraints are tool life, limits of feed rate, depth of cut, cutting speed, surface roughness, cutting force and amplitude of vibrations while maintaining a constant material removal rate. The result of the work shows how a complex optimization problem is handled by a genetic algorithm and converges very quickly. Experimental end milling tests have been performed on mild steel to measure surface roughness, cutting force using milling tool dynamometer and vibration using a FFT (fast Fourier transform) analyzer for the optimized cutting parameters in a Universal milling machine using an HSS cutter. From the estimated surface roughness value of 0.71 μm, the optimal cutting parameters that have given a maximum material removal rate of 6.0×10³ mm³/min with less amplitude of vibration at the work piece support 1.66 μm maximum displacement. The good agreement between the GA cutting forces and measured cutting forces clearly demonstrates the accuracy and effectiveness of the model presented and program developed. The obtained results indicate that the optimized parameters are capable of machining the work piece more efficiently with better surface finish.     

微铣削力建模研究进展

微铣削加工是实现具有三维复杂结构和材料多样性特征的微型零部件制造的有效技术手段,具有日益广阔的应用前景。然而由于刀具尺寸及加工参数的急剧缩减,微铣削表现出显著不同于传统铣削的加工机理。作为理解微铣削加工机理的最重要基础之一,至今已有大量关于微铣削力建模的研究,但是它们主要针对单一现象或者某几个现象进行研究,尚少有系统完善的理论来解释微铣削加工的力学过程,因此对微铣削加工切削力的全面总结是非常必要的。结合国内外微铣削技术的最新研究进展,从微铣削与传统铣削的不同加工机理出发,对微铣削力建模进行全面的论述和总结,并重点介绍刀刃钝圆半径、刀具跳动、挠性变形和刀具磨损对微铣削力建模的影响。探讨了目前微铣削力建模方法中的热点与难点,并指出了现有微铣削力建模有待研究的内容。     

A novel chatter stability criterion for the modelling and simulation of the dynamic milling process in the time domain

The modelling of the dynamic processes in milling and the determination of chatter-free cutting conditions are becoming increasingly important in order to facilitate the effective planning of machining operations. In this study, a new chatter stability criterion is proposed, which can be used for a time domain milling process simulation and a model-based milling process control. A predictive time domain model is presented for the simulation and analysis of the dynamic cutting process and chatter in milling. The instantaneous undeformed chip thickness is modelled to include the dynamic modulations caused by the tool vibrations so that the dynamic regeneration effect is taken into account. The cutting force is determined by using a predictive machining theory. A numerical method is employed to solve the differential equations governing the dynamics of the milling system. The work proposes that the ratio of the predicted maximum dynamic cutting force to the predicted maximum static cutting force can be used as a criterion for the chatter stability. Comparisons between the simulation and experimental results are given to verify the new model.     

CONDITION MONITORING FOR INDEXABLE CARBIDE END MILL USING ACCELERATION DATA

In order to automate machining operations, it is necessary to develop robust tool condition monitoring techniques. In this paper, a tool monitoring strategy for indexable tungsten carbide end milling tools is presented based on the Fourier transform and statistical analysis of the vibrations of the tool during the machining operations. Using a low-cost, tri-axial piezoelectric accelerometer, the presented algorithm demonstrates the ability to accurately monitor the condition of the tools as the wear increases during linear milling operations. One benefit of using accelerometer signals to monitor the cutting process is that the sensor does not limit the machine's capabilities, as a workpiece mounted dynamometer does. To demonstrate capabilities of the technique, four tool wear life tests were conducted under various conditions. The indirect method discussed herein successfully tracks the tool's wear and is shown to be sensitive enough to provide sufficient time to replace the insert prior to damage of the machine tool, cutter, and/or workpiece.     

Modeling of cutting forces in helical milling by analysis of tool contact angle and respective depths of cut

Knowledge of the behavior and magnitude of cutting forces is very important for correctly calculating cutting power and for obtaining tight tolerances and low levels of tool wear. In this way, the appropriate prediction of the force components collaborates with the correct choice of the cutting parameters and strategies. High oscillation of force values in helical milling increase the relevance of the analysis. In this context, present work describes an approach for modeling cutting forces in helical milling based on the analysis of tool contact angle and the respective depths of cut. From the model, it is possible to predict the behavior and magnitude of the force acting on the insert, which contributes to better process planning. The results indicated a good fit of the experimental values with the models, despite the observation of some errors, which occurred mainly due to the dynamics of the machine and the used approximations.     

An improved methodology for the experimental evaluation of tool runout in peripheral milling

The modeling of cutting forces plays an important role in the progress of research and technology in most machining processes. In particular, peripheral milling is a cutting process difficult to model due to the large number of variables involved. Among these variables, tool runout affects process performance by modifying milling force patterns, shortening the tool life and machine components, and by degrading workpiece quality. In this paper, a methodology to evaluate tool runout in peripheral milling is presented. The use of a boring toolholder is proposed to make controllable changes in the tool offset that modifies tool runout. In addition, the proposed methodology has been validated by means of a piezoactuator-based system that allows tool runout compensation through controlling workpiece displacement. Experimental and simulated results presented in this paper reveal the practical applications of this methodology for researchers and engineers involved in the practice of milling and its modeling.     

螺旋铣孔工艺的切削稳定性及工艺参数规划

以螺旋铣孔工艺时域解析切削力建模、时域与频域切削过程动力学建模、切削颤振及切削稳定性建模为基础,研究了螺旋铣孔的切削参数工艺规划模型和方法。切削力模型同时考虑了刀具周向进给和轴向进给,沿刀具螺旋进给方向综合了侧刃和底刃的瞬时受力特性;动力学模型中同时包含了主轴自转和螺旋进给两种周期对系统动力学特性的影响,并分别建立了轴向切削稳定域和径向切削稳定域的预测模型,求解了相关工艺条件下的切削稳定域叶瓣图。在切削力和动力学模型基础之上,研究了包括轴向切削深度、径向切削深度、主轴转速、周向进给率、轴向进给率等切削工艺参数的多目标工艺参数规划方法。最后通过试验对所规划的工艺参数进行了验证,试验过程中未出现颤振现象,表面粗糙度、圆度、圆柱度可以达到镗孔工艺的加工精度。     

Prediction of tool breakage in face milling using support vector machine

A new approach is proposed using a support vector machine (SVM) to classify the feature of the cutting force signal for the prediction of tool breakage in face milling. The cutting force signal is compressed by averaging the cutting force signals per tooth to extract the feature of the cutting force signal due to tool breakage. With the SVM learning process, the output of SVM’s decision function can be utilized to identify a milling cutter with or without tool breakage. Experimental results are presented to verify the feasibility of this tool breakage prediction system in milling operations.     

Surface generation modeling of micro milling process with stochastic tool wear

Micro milling is widely used to manufacture miniature parts and features at high quality with low set-up cost. To achieve a higher quality of existing micro products and improve the milling performance, a reliable analytical model of surface generation is the prerequisite as it offers the foundation for surface topography and surface roughness optimization. In the micro milling process, the stochastic tool wear is inevitable, but the deep influence of tool wear hasn't been considered in the micro milling process operation and modeling. Therefore, an improved analytical surface generation model with stochastic tool wear is presented for the micro milling process. A probabilistic approach based on the particle filter algorithm is used to predict the stochastic tool wear progression, linking online measurement data of cutting forces and tool vibrations with the state of tool wear. Meanwhile, the influence of tool run-out is also considered since the uncut chip thickness can be comparable to feed per tooth compared with that in conventional milling. Based on the process kinematics, tool run-out and stochastic tool wear, the cutting edge trajectory for micro milling can be determined by a theoretical and empirical coupled method. At last, the analytical surface generation model is employed to predict the surface topography and surface roughness, along with the concept of the minimum chip thickness and elastic recovery. The micro milling experiment results validate the effectiveness of the presented analytical surface generation model under different machining conditions. The model can be a significant supplement for predicting machined surface prior to the costly micro milling operations, and provide a basis for machining parameters optimization.     

Identification of bearing dynamics under operational conditions for chatter stability prediction in high speed machining operations

Chatter is a major problem causing poor surface finish, low material removal rate, machine tool failure, increased tool wear, excessive noise and thus increased cost for machining applications. Chatter vibrations can be avoided using stability diagrams for which tool point frequency response function (FRF) must be determined accurately. During cutting operations, due to gyroscopic moments, centrifugal forces and thermal expansions bearing dynamics change resulting in tool point FRF variations. In addition, gyroscopic moments on spindle–holder–tool assembly cause separation of modes in tool point FRF into backward and forward modes which will lead to variations in tool point FRF. Therefore, for accurate stability predictions of machining operations, effects of operational conditions on machine tool dynamics should be considered in calculations. In this study, spindle bearing dynamics are identified for various spindle rotational speeds and cutting forces. Then, for a real machining center, tool point FRFs under operating conditions are determined using the identified speed dependent bearing dynamics and the mathematical model proposed. Moreover, effects of gyroscopic moments and bearing dynamics variations on tool point FRF are examined separately. Finally, computationally determined tool point FRFs using revised bearing parameters are verified through chatter tests.     

Examination of surface location error due to phasing of cutter vibrations

The purpose of this research is to investigate the relative importance of spindle speed, system dynamics, and cutting conditions on the accuracy of surface location in computer numerical-control (CNC) finish machining operations. The relationship between the spindle speed, the most flexible modes of the machine/cutting tool system and the final part dimensions is rather complex. The underlying theory, based on the situation of forced vibrations, is outlined. It is shown that the critical factor is the ratio of the tooth passing frequency to the system most flexible mode and corresponding natural frequency. Simple analytical calculations are carried out to illustrate the overcut/undercut surface error phenomenon. A simple simulation for end milling operations is also described which calculates the force on the cutter, the resulting cutter deflection, and the final error of surface. A comparison between the simulated and experimental results is presented. From experimental data, it shown that a change in surface location (and part dimension) of up to 50 μm is seen for a set of given conditions (i.e., cutter, material, chip load) simply by changing spindle speeds. Furthermore, it is seen that certain spindle speeds produce surfaces with no error introduced by the machining process.     

Wide roller guide machining by four-axis machine tools for cylindrical cams

The dynamic interaction between different machine tool subsystems can be exploited to increase the machine cutting performance. Simplified models are proposed to define useful guidelines that maximize the material removal rate in milling processes in different industrial situations. Two different cases are presented: in the first one, the machine influence on spindle dynamics is considered and optimized. In the second case, the interaction between the control system and the machine tool mechanical structure is analyzed, suggesting control tuning criteria that maximize cutting process stability. The procedure is applied to a real industrial case: a five-axis machine tool with a bi-rotative head. Moreover, requirements for the applicability of the proposed approach are investigated and described by analytical formulas.     

Robust regenerative chatter stability in machine tools

The expeditious nature of manufacturing markets inspires advancements in the effectiveness, efficiency and precision of machining processes. Often, an unstable machining phenomenon, called regenerative chatter, limits the productivity and accuracies in machining operations. Since the 1950s, a substantial amount of research has been conducted on the prevention of chatter vibration in machining operations. In order to prevent regenerative chatter vibrations, the dynamics between the machine tool and workpiece are critical. Conventional regenerative chatter theories have been established based on the assumption that the system parameters in machining are constant. However, the dynamics and system parameters change due to high spindle speeds, tool geometries, orientation of the tool with respect to the rest of the machine, tool wear and non-uniform workpiece material properties. This paper provides a novel method, based on the robust stability theorem, to predict chatter-free regions for machining processes, by taking in account the unknown uncertainties and changing dynamics for machining. The effects of time-variant parameters on the stability are analyzed using the robust stability theorem. The experimental tests are performed to verify the stability of SDOF and MDOF milling systems. The uncertainties and changing dynamics are taken into account in order to accommodate the optimal selection of machining parameters, and the stability region is determined to achieve high productivity and accuracy through applications of the robust stability theorem.     

Cutting dynamics and process-structure interactions applied to milling

Cutting dynamics should not be restricted only to self-excited chatter vibrations. Transient disturbances are superimposed on stable working conditions and these dynamic components provide useful information on the real behaviour of the whole machining process. Cutting dynamics therefore include the analysis of such signals in the entire frequency range. An introduction to the basic dynamics of milling processes is presented.Milling is a cutting operation during which the periodic sequence of cutting edges generates periodic time signals with discrete force and vibration spectra. A single cutting pulse from the series of successive cuts leads to an aperiodic time function and thus to a continuous spectrum. Since the dynamic behaviour is known at all frequencies a study of the influence of various cutting conditions and the interactions between the cutting process and the machine tool structure is possible. The discrete spectrum of a real cut involving many teeth can be deduced from the corresponding single cutting pulse.A simple cutting force model was assumed in the theoretical analysis in order to give an initial rough idea of the fundamental properties of the milling pulses (frequency content of the spectra, spatial excitation locus and excitation ratio) as a function of the most important parameters (total cutting angle, up and down milling, symmetrical and asymmetrical cut and number of teeth). The computed results were compared with experimentally obtained data.