JP3335714B2 - Numerically controlled non-round workpiece processing method and numerically controlled non-round workpiece processing apparatus - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerically controlled non-round work processing apparatus such as a cam grinder for creating a non-round work having a desired profile based on numerical data. The present invention relates to a numerically controlled non-circular workpiece processing apparatus capable of controlling a feed position of a processing tool by numerical control and numerically controlling an error in positioning the processing tool to an allowable minimum range.

[0002]

2. Description of the Related Art When machining a non-circular workpiece, it is necessary to control a spindle rotation angle position and a tool position control corresponding to the control. In this case, in order to increase the processing accuracy, both devices need to have high-level control capabilities, and the overall processing time is determined by the lower one of the two devices.

As a countermeasure against such a problem, Japanese Patent Publication No. 58-24225 discloses that several drive pulses are transmitted from a pulse generating circuit every time a main shaft rotates by a unit angle and a unit pulse is transmitted from a rotational phase detector. There has been proposed a numerically controlled machining apparatus that distributes the driving pulses to a servomotor for moving a machining tool based on numerical data. According to this numerically controlled cam processing device, it is not necessary to separately provide a numerical control device having a high-level control capability in performing both the spindle rotation angle position control and the corresponding tool position control.

In general, the operation speed of a non-circular workpiece machining apparatus, such as the numerical control cam machining apparatus disclosed in Japanese Patent Publication No. 58-24225, tends to increase in order to improve productivity. For example, if the operating speed of the machining tool is increased, overshoot or residual vibration will occur at the time of positioning.To solve this problem, for example, if measures to increase the mechanical rigidity are taken, the weight will increase, resulting in a larger servo. This creates a vicious cycle of having to employ a motor.

Japanese Unexamined Patent Application Publication No. 2-217904 discloses actual travel distance data and an ideal travel distance based on an actual travel distance that can be controlled and operated by position command data based on profile data for processing a workpiece. A numerically controlled non-circular workpiece machining method that calculates the ratio of the frequency response from the given ideal position command data and corrects the frequency characteristic of the position command data with the ratio of the frequency response to improve the tracking accuracy of the positioning servo system. A control device to which a so-called repetitive transfer function correction control method is applied has been proposed.

[0006]

However, the above-described conventional method of processing a non-circular workpiece with numerical control, that is, a control method by iterative transfer function correction, has the following problems. That is, the conventional numerically controlled non-circular workpiece processing apparatus disclosed in Japanese Patent Application Laid-Open No. 2-217904 discloses a frequency response ratio, that is, a frequency response ratio based on actual movement amount data based on an actual movement amount and ideal position command data giving an ideal movement amount. In this transfer function, the difference between the actual position command data and the actual travel distance is not shown as a transfer function after the initial position correction, and the obtained transfer function is caused by the actual mechanical system. Error will not be reflected.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in the prior art, and has an input profile data in a numerically controlled non-round machining apparatus which controls a feed position of a machining tool in synchronization with a spindle rotation. By accurately determining the input / output characteristics generated between the operation of the machining tool and the input profile data and determining the profile data, the desired operation can be performed without overshooting the machining tool mounting the machining tool as fast as possible. It is an object of the present invention to provide a numerically controlled non-round work processing method and a numerical control apparatus for realizing the method.

[0008]

Means for Solving the Problems To achieve the above object, the present inventors have studied variously, and as a method for solving the above problems, a method of controlling a tool feed axis in synchronization with rotation of a spindle. In applying the control by the transfer function correction to the non-circular workpiece control device, that is, the non-circular workpiece control device in which the tool feed axis is controlled to move to the corresponding data position according to the angle of the spindle. The present inventors have found out that it is effective to improve the accuracy of transfer function correction in a control method based on iterative transfer function correction, and arrived at the present invention.

In other words, the numerically controlled non-round workpiece machining method of the present invention is controlled so that the machining tool moves to a corresponding data position according to the angle of the spindle on which the non-round workpiece is mounted, and is synchronized with the spindle rotation. A non-circular workpiece control method for controlling the feed position of the working tool by performing Fourier transform on the target input position data for performing the positioning control operation of the working tool to obtain the first target input position Fourier transform data. The actual movement amount obtained by performing the positioning control operation of the machining tool is detected as actual movement amount data, and the detected actual movement amount data is Fourier-transformed to obtain first actual movement amount Fourier transform data. calculating a transfer function which is the ratio between the first target input position Fourier transform data first actual movement amount Fourier transform data, the first target input by the transfer function The correcting the location Fourier transform data
2 is calculated, and the second corrected target input position Fourier transform data is subjected to inverse Fourier transform to obtain new second target input position data .
A second target obtained by using the second target input position data
Fourier-transform the target position data to obtain a second target position
Fourier transform of the Rie-transformed data and the second actual travel distance data
And the ratio to the second actual movement amount Fourier transform data
The transfer function obtained by repeating the transfer function is defined by equation (1), and the first function is defined by the transfer function (1).
The target input position Fourier transform data is corrected and a new third
The target input position Fourier transform data is calculated, and this third
Inverse Fourier transform of target input position Fourier transform data
Driving using the obtained new third target input position data
It is characterized by being controlled . Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain)

[0010] The numerically controlled non-round workpiece according to the present invention is also processed.
The method includes controlling the feed position of the processing tool in synchronization with the rotation of the spindle by controlling the processing tool to move to a corresponding data position according to the angle of the spindle on which the non-round workpiece is mounted. In the circular workpiece control method, the spindle is driven based on the profile data, and the positioning control operation of the machining tool is performed in conjunction with the spindle by the target input position data based on the profile data, and the profile data is Fourier-transformed . A first target input position Fourier transform data by performing a Fourier transform on the target input position data for performing the positioning control operation of the machining tool;
A first transfer function is obtained from the first profile Fourier transform data and the first target input position Fourier transform data, and the actual movement amount obtained by performing the positioning control operation of the machining tool is actually calculated. detected as the movement amount data, determine the first real movement amount Fourier transform data the real movement amount data detected by Fourier transform, the first target input position Fourier transform data and the first real movement amount Fourier A transfer function repeatedly obtained from the converted data according to claim 1.
Then, the second transfer function defined by the equation (1) is calculated,
Calculating second corrected target input position Fourier transform data obtained by correcting the first target input position Fourier transform data using the second transfer function; and calculating the second corrected target input position Fourier transform data and the first transfer function. And the first
Profile Fourier transform data to calculate the second professional <br/> file Fourier transform data by correcting the second and inverse Fourier transform the second professional <br/> file Fourier transform data
And drives the main shaft on the basis of the profile data and without, in the second profile data
Numerically controlled non-round workpiece processing method. Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain)

Therefore, according to the numerically controlled non-circular workpiece processing method of the present invention, the second profile data is processed.
The machining tool is positioned in conjunction with the spindle based on the data
The control operation is performed, and the above-mentioned equation (1) is used as the second transfer function.
The transfer function defined by
The first target input position Fourier transform data
Target input position Fourier transform data with corrected data
The third target input position data obtained from the first transmission
From the first profile Fourier transform data
Compensate to calculate third profile Fourier transform data
And transforms the third profile Fourier transformed data into an inverse Fourier
D) The process of driving the spindle based on the third profile data obtained by the conversion is repeatedly performed.

Further, the numerically controlled non-round workpiece machining apparatus of the present invention is controlled so that the machining tool moves to a corresponding data position in accordance with the angle of the spindle on which the non-round workpiece is mounted, and is synchronized with the spindle rotation. In the non-circular workpiece control device configured to control the feed position of the working tool, the target input position data for performing the positioning control operation of the working tool is Fourier-transformed to obtain the target input position Fourier transform data. (1) Fourier transform processing means, a movement amount detector for detecting an actual movement amount obtained by performing a positioning control operation of the machining tool as actual movement amount data, and a Fourier transform of the actual movement amount data detected by the movement amount detector. Second Fourier transform processing means for performing conversion to obtain the actual movement amount Fourier transform data; the target input position Fourier transform data and the second Fourier transform processing means; It has a transfer function calculating means for calculating a transfer function which is the ratio of the actual amount of movement Fourier transform data obtained in the transfer function calculation unit, the second
Travel data obtained using the target input position data
Second real movement amount Fourier transform obtained by Fourier transform of
A transfer function that repeatedly calculates the transfer function that is the ratio to the data
It is characterized in that a transfer function whose number is defined by equation (1) is calculated. Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain).

Further, the numerically controlled non-round workpiece machining apparatus of the present invention is controlled so that the machining tool moves to a corresponding data position according to the angle of the spindle on which the non-round workpiece is mounted, and is synchronized with the spindle rotation. A non-circular workpiece control device which controls the feed position of the machining tool by driving the spindle based on the profile data and interlocking with the spindle by the target input position data based on the profile data. Means for performing a positioning control operation, first Fourier transform means for performing a Fourier transform on the profile data to obtain profile Fourier transform data, and a target input by performing a Fourier transform on the target input position data for performing a positioning control operation of a working tool. Second Fourier transform processing means for obtaining position Fourier transform data; Movement amount detecting the first transfer function calculating means for calculating a first transfer function from the error input data and the target input position Fourier transform data, the actual movement amount obtained by positioning control operated machining tool as actual movement amount data A third Fourier transform processing means for performing a Fourier transform on the actual movement amount data detected by the movement amount detector to obtain the actual movement amount Fourier transform data; the target input position Fourier transform data and the third Fourier transform data; becomes a second transfer function calculating means for calculating a second transfer function which is the ratio of the actual amount of movement Fourier transform data obtained by the conversion processing unit, the second transfer function calculating means, said target input Rank
Fourier transform between the Fourier transform data and the actual travel data
To the second actual movement amount Fourier transform data obtained by
The transfer function obtained by repeating the transfer function is
In calculating the second transfer function defined, calculates a second target input position Fourier transform data obtained by correcting the target input position Fourier transform data by the calculated said second transfer function by its second transfer function calculating means And the second target input position Fourier transform data and the first transfer function
Calculating second profile Fourier transform data;
Second profile data and without by inverse Fourier transform on the second profile Fourier transform data, and drives the spindle on the basis of the second flop <br/> profile data. Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain).

Comparing the actual movement amount data obtained by detecting the actual movement amount obtained by performing the positioning control operation of the machining tool with the target input position data for performing the positioning control operation of the machining tool; A discriminating means for discriminating the degree of the error between them can be provided, and when the error discriminated by the discriminating means is one or more, a transfer function can be calculated by the transfer function calculating means. In this case, the transfer function can be calculated by the transfer function calculating means when the error determined by the determining means is equal to or greater than one and exceeds a predetermined number of times. By doing so, the input data currently used can be continuously used when the error determined by the determination means is equal to or greater than one and does not exceed a predetermined number of times. Even if the currently used input data is used continuously, there is no problem in processing accuracy. On the other hand, by continuously using the input data currently used in such a manner, it is possible to save the time required for newly calculating the transfer function and calculating the new input data, and to improve the production efficiency. it can. The numerically controlled non-round workpiece processing apparatus includes, for example, a numerically controlled cam grinder.

[0015]

The theoretical mechanism of the numerically controlled non-circular workpiece processing method and apparatus according to the present invention will be described below. According to the control method based on the iterative transfer function correction, the measured transfer function is used for calculating the target input position data. The transfer function obtained from the operation response of the machining tool to
It is expressed by an equation. H (jω) = O (jω) / I (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (frequency Region) O (jω): operating speed of the machining tool (frequency region)

According to this equation, if the transfer function is known and time domain data for positioning can be created, the target input position data can be calculated by equation (2). i (t) = {0t} F-1 [X (jω) / H (jω)]｝ dt (2) where F-1 [] represents the inverse Fourier transform in []. i (t): target input position data input obtained by the inverse transfer function compensation method X (jω): desired response of the numerically controlled non-round workpiece processing apparatus

This target input position data calculation method is a known method as an inverse transfer function compensation method. In this method, when the transfer function can be regarded as one fixed, one fixed target input position data input can be obtained with high accuracy.

Therefore, by implementing the numerically controlled non-circular workpiece processing method of the present invention and performing the positioning control while repeatedly correcting the transfer function as shown in the equation (3), the efficiency and the efficiency are improved. It becomes possible to set the target input position data with high accuracy. That is, the target input position
Fourier transform the position data to obtain the first target input position Fourier
D Obtain the conversion data and perform the positioning control operation of the machining tool.
The obtained actual movement amount is detected as actual movement amount data,
Fourier transform is performed on the detected actual movement amount data to obtain the first actual
First moving target Fourier transform data is obtained, and the first target input position is obtained.
Fourier transform data and first actual moving amount Fourier transform data
A second transfer function, which is a ratio to the second transfer function, is calculated.
Corrects first target input position Fourier transform data by number
The calculated second target input position Fourier transform data,
The second target input position Fourier transform data is transformed into an inverse Fourier
D to obtain new second target input position data.
Actual movement amount obtained by using the second target input position data
Fourier transform the data to obtain a second actual movement Fourier transform
The second transfer function, which is a ratio to data, is repeatedly obtained.
Therefore, the second transfer function is always between the operation of the machining tool
Can be obtained with high accuracy by reflecting the input / output characteristics
Wear. Hi + 1 (jω) = Oi (jω) / Ii (jω) (3)

As shown in FIG. 1 from the equation (1), first, a transfer function H1 obtained from a known input and response is calculated. Using this transfer function H1, from the desired response O, the equation (2)
The input 1 is calculated according to the formula (1), and is taught to the numerically controlled non-round workpiece processing apparatus as target input position data. At this time, if the error of the obtained response 1 does not converge within a desired allowable value, the response Oi in the frequency domain is calculated by equation (3).
Is used to calculate the transfer function H2. Using this transfer function H2, a new input 2 is calculated from the desired response by equation (2) and used as target input position data. By repeating this operation until the error converges and correcting the transfer function until a predetermined control result is obtained, high-precision numerically controlled non-round workpiece machining is realized.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A numerically controlled non-circular workpiece machining method and a numerically controlled non-circular workpiece machining apparatus according to embodiments of the present invention will be described below. FIG. 2 shows a schematic configuration of a cam grinder to which the numerically controlled non-round workpiece processing method of the present invention is applied. FIG.
, The spindle servomotor 11 is fixedly mounted on a headstock 13 on a table 12, and the spindle servomotor 11 rotates a spindle 15 on which a workpiece 14 is mounted. The spindle servomotor 11 is a drive unit 1
The drive unit 16 is driven and controlled, and the drive unit 16 is connected to a numerical controller 17.

The grinding wheel 18 is driven to rotate by a motor 19, and a grinding wheel table 20 on which the grinding wheel 18 is mounted is moved forward and backward in an X direction perpendicular to the rotation axis of the main shaft 15 by a grinding wheel feed servomotor 21. The drive of the motor 19 is controlled by a drive unit 22, and the drive unit 22 is connected to the numerical controller 17.

FIG. 3 shows a control block diagram of the numerical controller 17. As shown in the figure, first, profile data is input, input profile data is calculated from the profile data, and the input profile data is Fourier-transformed.

Next, the spindle 15 is rotationally driven via the drive unit 16 by the input profile data, and at the same time, the grindstone head 20 is moved forward and backward via the drive unit 22. At the same time, target input position data for moving the grinding wheel head 20 forward and backward is collected, and the input position data is subjected to Fourier transform. From the Fourier-transformed first target input position data and the Fourier transform data of the input profile data, a first transfer function is calculated as shown in the figure.

On the other hand, the actual movement amount of the wheel head 20 is sampled, and the accuracy of the actual movement amount is determined. If there is no problem in the accuracy determination, the processing of the workpiece 14 based on the profile data input first is continuously performed, and the transfer function correction ends.

However, when there is a problem in the result of the accuracy determination, the sampled actual movement amount is subjected to Fourier transform, and the Fourier transform data of the target input position data corresponding to the actual movement amount and the Fourier transform of the actual movement amount are obtained. A second transfer function is calculated from the converted data. And next time
If there is a problem with the degree determination result, the calculated second
Second target input position data obtained by correction using the transfer function
Fourier transformation of the actual movement amount obtained again by processing using
Conversion data and target input position data corresponding to the actual travel distance
New second transfer function is calculated from the Fourier transform data of
Is done. In the present invention, the calculation of the second transfer function is always performed using the latest input position data and the sampled actual movement amount data.
It is performed on the basis of the data.

Next, the second transfer function and the target input position data
Second target input position corrected from the Fourier transform data of
Calculate the location data. The second target input position data and
A second profile Fourier transform from the first transfer function
After performing the inverse Fourier transform on the transformed data,
Drive unit 1 again with the profile data of 2
The spindle 15 and the grindstone head 20 are driven via the drive unit 6 and the drive unit 22, and the above process is repeated.

FIG. 4 is a block diagram showing another embodiment of the numerically controlled non-circular workpiece machining method according to the present invention, which is a numerical control unit 17 by iterative transfer function correction. As shown in the figure, first, profile data is input, input profile data is calculated from the profile data, and the input profile data is Fourier-transformed.

Next, the spindle 15 is rotationally driven through the drive unit 16 by the input profile data, and at the same time, the grinding wheel head 20 is moved forward and backward through the drive unit 22. Eye target input position data Kakaru taken for forwardly and backwardly moving the wheel head 20 therewith
The target input position data is Fourier transformed. As shown in the figure, a first transfer function is calculated from the Fourier-transformed target input position data and the Fourier-transformed data of the input profile data.

On the other hand, the actual movement amount of the wheel head 20 is sampled, the accuracy of the actual movement amount is determined, and the following processes proceed according to the determination result.

If the determination result is “-OK” → the counter is one-up If the determination result exceeds the limit value within the allowable range, the counter is one-up, and the number of counters is further increased by “the predetermined number of times. That is, it is determined whether or not the counter set value has been reached. If not reached, the processing by the cam grinder shown in the figure is continued using the profile data as it is.

If the determination result is OK → continuous operation based on the current profile data, that is, if there is no problem with the determination result, processing by the cam grinder shown in the figure is continued using the profile data as it is. At the same time, the counter in the above is reset.

If the result of the determination is NG → emergency stop, that is, if the result of the determination indicates an error exceeding the allowable range, the rotation of the spindle 15 on which the workpiece 14 is mounted and the advance / retreat of the grindstone table 20 are stopped. The processing of the workpiece 20 is stopped in an emergency. At the same time, the counter in the above is reset.

In the above, when the determination result is "-OK", the counter number is "predetermined predetermined number of times".
That is, when the counter set value has been reached, the second transfer function is calculated from the Fourier transform of the input position data and the Fourier transform data of the actual move amount data by performing Fourier transform on the actual move amount data. In the present invention, the calculation of the second transfer function is always the latest input position data.
And the actual movement amount data .

[0034] From the following to the second transfer function and the Fourier transform data of the target input position data calculating a second target input position data. The second target input position data and the first
Transfer function and second target input profile Fourier transform
Conversion data is calculated and the second target input profile file is calculated.
After the inverse Fourier transform of the Fourier transformed data , a new second
According to the target input profile data, the spindle 15 and the grinding wheel head 20 are driven again via the drive unit 16 and the drive unit 22, and the above process is repeated.

The above process is repeated, and the transfer function correction using the first transfer function and the second transfer function is repeated until the error between the actual movement amount and the input position data corresponding to the actual movement amount converges to a predetermined allowable range. Is done. In the above embodiment, the actual movement amount of the grinding wheel head 20 is sampled, and the discrimination means determines the error between the actual movement amount of the grinding wheel head 20 and the latest input position data. When the determined error is equal to or greater than one and continuously exceeds a predetermined number of times, the transfer function is calculated by the transfer function calculating means. The time required for calculating the input data is saved, and the production efficiency is improved.

[0036]

As described above, according to the numerically controlled non-circular workpiece processing method and apparatus of the present invention, a non-circular workpiece control device which controls a tool feed axis in synchronization with rotation of a spindle. That is, when applying control by iterative transfer function correction to a non-circular workpiece control device in which the tool feed axis is controlled to move quickly to the corresponding data position according to the angle of the spindle, Hi + 1 (jω) = Oi (jω)
/ Ii (jω) to constitute a numerically controlled non-circular workpiece machining apparatus using transfer function computing means for computing a transfer function by a transfer function, and using such a numerically controlled non-circular workpiece machining apparatus. By performing grinding of non-round workpieces, the transfer function is always calculated to best reflect the operating characteristics of the processing tool of the numerically controlled non-round workpiece processing equipment, and the best tracking in control Accuracy can be obtained, and processing accuracy of a non-circular workpiece can be significantly improved.

Therefore, according to the method and apparatus for processing a non-circular workpiece with numerical control of the present invention, overshoot and residual vibration can be significantly suppressed, and the positioning accuracy can be improved without modifying the existing control apparatus. it can.
Moreover, by applying the transfer function correction control repeatedly to the non-circular workpiece control device which controls the tool feed axis in synchronization with the spindle rotation, the frequency function calculation of the transfer function and the new target input position data can be performed by the spindle. Since it is performed on the motion of the main shaft including the characteristics of the above, it is possible to handle the data of the corresponding operation in the whole machine, the accuracy is extremely high, and it is sufficient to use a single Fourier transform means for calculating the transfer function There are advantages too.

[Brief description of the drawings]

FIG. 1 is a schematic diagram illustrating a method of performing control while repeatedly correcting a transfer function performed by a numerically controlled non-round workpiece processing method of the present invention.

FIG. 2 shows a cam grinder according to an embodiment of the numerically controlled non-round workpiece processing apparatus according to the present invention.

FIG. 3 is a control block diagram of an embodiment of a numerically controlled non-circular workpiece machining method according to the present invention in which an improved control method based on an improved repetitive transfer function is applied to the cam grinder shown in FIG. 1;

FIG. 4 is a control block diagram of another embodiment of the numerically controlled non-round workpiece processing method of the present invention in which the improved control method based on the repeated transfer function correction is applied to the cam grinding machine shown in FIG.

[Explanation of symbols]

11 ... spindle motor, 14 ... workpiece,
15 ... spindle, 16 ... drive unit, 17
..Numerical control device, 18: grinding wheel, 20: grinding wheel stand, 21: servo motor for grinding wheel feed, 22 ...
Drive unit.

Continuation of the front page (56) References JP-A-6-348316 (JP, A) JP-A-63-78201 (JP, A) JP-A-2-217904 (JP, A) JP-A-63-233402 (JP, A) JP-A-59-197902 (JP, A) JP-A-59-208615 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 19/404 B23Q 15/013

Claims (9)

(57) [Claims] 1. The machine tool is controlled to move to a corresponding data position in accordance with the angle of a spindle on which a non-round workpiece is mounted, and the feed position of the machining tool is controlled in synchronization with the spindle rotation. In a non-circular workpiece control method, a target input position data for performing a positioning control operation of a processing tool is Fourier-transformed to obtain a first target input position Fourier transform data, and an actual position obtained by performing a positioning control operation of the processing tool is obtained. The first target input position Fourier transform data and the first target input position Fourier transform data are obtained by Fourier transforming the detected actual move amount data as the actual move amount data.
Calculating a transfer function that is a ratio of the actual movement amount to the Fourier transform data, and calculating second corrected target input position Fourier transform data obtained by correcting the first target input position Fourier transform data by the transfer function. The second corrected target input position Fourier transform data is subjected to inverse Fourier transform to obtain new second target input position data, and the second target position data obtained using the second target input position data is subjected to Fourier transform. Then, the transfer function obtained by Fourier-transforming the second target position Fourier transform data and the second actual movement amount data and repeatedly obtaining the transfer function, which is the ratio of the second actual movement amount Fourier transform data, is (1) The transfer function (1) defined by the equation
The first target input position Fourier transform data is corrected by the equation to calculate new third target input position Fourier transform data, and the new target input position Fourier transform data is obtained by performing inverse Fourier transform on the third target input position Fourier transform data. A numerically controlled non-circular workpiece processing method, wherein the operation is controlled using the third target input position data. Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain) 2. The machine tool is controlled to move to a corresponding data position in accordance with the angle of a spindle on which a non-round workpiece is mounted, and the feed position of the machining tool is controlled in synchronization with the spindle rotation. In the non-circular workpiece control method, the spindle is driven based on the profile data and the positioning control operation of the machining tool is performed in conjunction with the spindle by the target input position data based on the profile data, and the profile data is Fourier-transformed. The first profile Fourier transform data by performing Fourier transform on the target input position data for performing the positioning control operation of the machining tool to obtain the first target input position Fourier transform data; And the first
The first transfer function is obtained from the target input position Fourier transform data, and the actual movement amount obtained by performing the positioning control operation of the machining tool is detected as the actual movement amount data, and the detected actual movement amount data is Fourier-transformed. The first target input position Fourier transform data is obtained by converting the first actual movement amount Fourier transform data.
And calculating the second transfer function defined by the equation (1) from the real movement amount Fourier transform data of the first transfer function and the first transfer function defined by the equation (1). Calculating second corrected target input position Fourier transform data obtained by correcting the target input position Fourier transform data; and calculating the first profile Fourier transform data from the second corrected target input position Fourier transform data and the first transfer function. Is corrected to calculate second profile Fourier transform data, and the second profile Fourier transform data is subjected to inverse Fourier transform to form second profile data, and the spindle is driven based on the second profile data. A method of processing a non-circular workpiece with numerical control, characterized in that: Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain) 3. A machining tool performs a positioning control operation in conjunction with the spindle based on the second profile data according to claim 2, and transmits the second transfer function defined by the equation (1). The function is repeated and this second
The first profile Fourier is obtained from third target input position data obtained from third target input position Fourier transform data obtained by correcting the first target input position Fourier transform data by a transfer function, and the first transfer function. The process of correcting the conversion data to calculate third profile Fourier transform data, and driving the spindle based on the third profile data obtained by performing an inverse Fourier transform of the third profile Fourier transform data is repeated. A method of processing a non-circular workpiece with numerical control characterized by performing the following. 4. A comparison between the actual movement amount data obtained by detecting an actual movement amount obtained by performing the positioning control operation of the machining tool and target input position data for performing the positioning control operation of the machining tool. and, the degree of error in the mutual determined, wherein when the determined error is a constant over a second
4. The method according to claim 1, wherein the transfer function is calculated. 5. When the determined error is equal to or greater than a certain value,
If the number exceeds the predetermined number of times, the second transmission
The calculation of a transfer function is performed.
Numerically controlled non-round workpiece processing method. 6. The machine tool is controlled to move to a corresponding data position according to an angle of a spindle on which a non-round workpiece is mounted, and a feed position of the machining tool is controlled in synchronization with spindle rotation. A non-circular workpiece control device comprising: first Fourier transform processing means for performing Fourier transform on the target input position data for performing a positioning control operation of a processing tool to obtain target input position Fourier transformation data; A moving amount detector that detects an actual moving amount obtained as a result as actual moving amount data; and a second obtaining a real moving amount Fourier transform data by performing a Fourier transform on the actual moving amount data detected by the moving amount detector. Fourier transform processing means; the target input position Fourier transform data; and the actual movement amount Fourier transform data obtained by the second Fourier transform processing means. Transfer function calculating means for calculating a transfer function as a ratio, wherein the transfer function calculating means performs a Fourier transform on the actual movement amount data obtained using the second target input position data according to claim 1. A transfer function, which is obtained by repeating a transfer function that is a ratio with the second real movement amount Fourier transform data obtained by the conversion, calculates a transfer function defined by equation (1). Circular workpiece processing equipment. Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain). 7. The machine tool is controlled to move to a corresponding data position in accordance with the angle of a spindle on which a non-round workpiece is mounted, and the feed position of the machining tool is controlled in synchronization with spindle rotation. A non-circular workpiece control device for driving a spindle based on profile data and performing a positioning control operation of a machining tool in conjunction with the spindle by target input position data based on the profile data; First Fourier transform means for converting to obtain profile Fourier transform data, and second Fourier transform processing means for performing Fourier transform on the target input position data for performing positioning control operation of a working tool to obtain target input position Fourier transform data. The profile Fourier transform data and the target input position Fourier transform data A first transfer function calculating means for obtaining a first transfer function from the following; a movement amount detector for detecting an actual movement amount obtained by performing positioning control operation of the processing tool as actual movement amount data; Third Fourier transform processing means for Fourier transforming the detected actual movement data to obtain actual movement Fourier transform data; and the target input position Fourier transform data and the actual movement amount obtained by the third Fourier transform processing means Second transfer function calculating means for calculating a second transfer function which is a ratio with Fourier transform data, wherein the second transfer function calculating means converts the target input position Fourier transform data and the actual movement amount data into A transfer function, which is obtained by repeating a transfer function that is a ratio of the second actual movement amount obtained by Fourier transform to Fourier transform data, is a second transfer function defined by equation (1). Calculating the second target input position Fourier transform data obtained by correcting the target input position Fourier transform data using the second transfer function calculated by the second transfer function calculating means; Fourier transform data and the first
A second profile Fourier transform data is calculated from the transfer function and the second profile Fourier transform data is subjected to an inverse Fourier transform to obtain a second profile data, and the main shaft is driven based on the second profile data. Numerically controlled non-round workpiece processing apparatus. Hi + 1 (jω) = Oi (jω) / Ii (jω) (1) where H (jω): frequency transfer function I (jω): target input position data (Frequency domain) O (jω): Actual movement amount data of the machining tool (frequency domain). 8. A comparison between the actual movement amount data obtained by detecting an actual movement amount obtained by performing the positioning control operation of the machining tool and target input position data for performing the positioning control operation of the machining tool. and its has a discriminating means for discriminating the degree of error between each other, according to claim 6, wherein to calculate the transfer function by the transfer function calculating means when the error is determined by the determination means is a constant or Numerically controlled non-round workpiece processing equipment. 9. When the discriminated error is equal to or more than a certain value,
If the number exceeds the predetermined number of times,
The transfer function is calculated by a numerical operation means.
9. The numerically controlled non-round workpiece processing apparatus according to claim 8.