数控机床伺服系统摩擦的非线性参数辨识研究

Research on non-linear parameters identification for servo system of CNC machine tools

针对常用的Stribeck摩擦指数模型,提出用泰勒高次展开的方法达到非线性摩擦模型的线性化,利用最小二乘拟合的方法得到摩擦模型参数。通过对数控机床控制系统的电动机电流和转速等信号的采集,得到了进给系统中摩擦力矩与转速的对应关系,利用提出的方法进行了辨识实验,实验结果表明,该方法能对Stribeck摩擦模型的参数进行精确的辨识。该方法在工程实际中具有应用价值。

This paper proposed an identification method that non-linear friction model described as Stribeck are linearized by using high order Taylor series expansion and parameters of the model are obtained by using method of least square （ LSM ） Signals of servo motor current and rotating rate which are offered in any modern CNC machine tools are needed for the identification and experiments results shows that parame- ters of Stribeck can be obtained accurately by the identification method. The method is suited for indus- trial condition and has its practicality.