Control device for machine tool performing oscillation cutting

A control device for controlling a machine tool, the machine tool comprising a spindle for relatively rotating a workpiece and a tool around a center axis of the workpiece, and at least one feed axis for relatively feeding the tool and the workpiece along a generatrix of an outer peripheral surface or an inner peripheral surface of the workpiece,

• the control device comprising:
• a position command generation part for generating a position command for the at least one feed axis based on a relative rotation speed of the workpiece and the tool and a relative feed speed of the tool and the workpiece,
• at least one position detection part for detecting an actual position of the at least one feed axis,
• an oscillation command generation part that generates an oscillation command for the at least one feed axis based on the rotation speed and the position command such that an oscillation count of the tool per rotation of the spindle becomes a positive non-integral multiple and the tool intermittently cuts the workpiece,
• a first adding part for generating a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and the actual position of the at least one feed axis detected by the at least one position detection part,
• a normalization part for normalizing the resultant command with a representative value and generating a normalized resultant command which is not unit system dependent, wherein the representative value is at least one of the position command of the at least one feed axis and a rotation speed command of the spindle,
• the control device further comprising:
• a learning control part that obtains a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and the normalized resultant command and which adds the correction amount to the resultant command,
• a denormalization part for denormalizing an output from the learning control part with a representative value which is the same as the representative value used by the normalization part, and
• a second adding part for adding an output which has been denormalized by the denormalization part to the resultant command.