基于扭矩测量的交流伺服工作台摩擦建模与仿真研究

Study on Friction Modeling and Simulation for AC Servo Worktable Based on Torsion Measuring

摩擦是影响XY交流伺服工作台定位精度的重要因素。利用作用力与反作用力原理设计了一种新的应变式扭矩传感器,代替传统试验中采用的碳刷-集流环式扭矩传感器,间接测量了交流伺服电机的传递扭矩信号。对XY交流伺服工作台进行动力学分析,建立动力学方程,获得了系统中的摩擦力矩数据。利用实验数据辨识了Stribeck摩擦模型的参数,得出了XY工作台的带参数摩擦模型。建立了XY交流伺服工作台的仿真模型,仿真结果表明本文中的实验方案设计是可行的。

Friction is an important factor influencing positioning precision of the AC servo XY worktable. A novel strain gauge torsion sensor was designed based on the principle of acting force and reaction force, which is replaced classical carbon brush and collecting ring sensor. Torsion signal of AC servo motor was measured indirectly. The dynamic problem of AC servo worktable was analyzed and dynamic equation was built,through which friction data of system was obtained. The parameter of Stribeck friction model was identified with the experiment data. A simulation model of AC servo XY worktablewas built. The simulation result indicates the experiment method is feasible.