Abstract: To address large grinding force fluctuations, severe spindle vibration and poor tooth surface accuracy in double-flank generating grinding of spiral bevel gears, a grinding force-controlled variable generating speed method is proposed. By establishing a tooth surface mathematical model to calculate instantaneous contact line length and undeformed chip volume, their variation laws with cradle angle are revealed; a segmented control strategy is designed based on the equal adjacent interval integral principle to achieve a constant material removal rate. Comparative experiments on an H350GH grinding machine show that the optimal scheme reduces grinding force fluctuation by 59.27%, spindle vibration by 63.62%, and tooth surface error root mean square by 33.46%. This method requires no extra sensors, is simple to control and is highly effective, providing technical support for high-efficiency precision grinding of spiral bevel gears.