适用于机床柔性进给驱动的最优反馈控制技术研究

Optimal feedback control technology for machine tools flexible feed drive

针对机床柔性进给传动系统的传动控制问题,对滚珠丝杆传动的高速跟踪进行了研究,提出了一种具有较高的动态精度的最优反馈控制方法。利用进给工作台负载侧的反馈测量实现了主动减振和精确跟踪;同时,采用2个权重对传动控制进行了最优调节,实现了干扰抑制和主动减振的功能;在反馈中通过引入模态阻尼对工作台颤振进行了抑制,并结合结构的反谐振抑制了高频干扰。研究结果表明:该方法能够以较低的成本实现精确的高速进给传动控制,在高加速度时的最大误差为±40μm,并获得了大于300 Hz的跟踪带宽,在低频和高频下最优控制效果更好,干扰抑制能力强,在大约157 Hz时可以实现大于5倍的干扰衰减性能。

Aiming at the transmission control problem of the flexible feed drive system of the machine tool,the high-speed tracking of the ball screw driver was studied,and an optimal feedback control method with high dynamic precision was proposed.Active damping and precise tracking were achieved using feedback measurements on the load side of the feed table.At the same time,the transmission control was optimally adjusted with two weights to achieve interference suppression and active vibration reduction.In the feedback,the table flutter was suppressed by introducing modal damping,and combined with the anti-resonance of the structure to suppress high-frequency interference.The results show that the method can achieve precise high-speed feed transmission control at a lower cost.The maximum error at high acceleration is±40μm and a tracking bandwidth greater than 300 Hz is obtained.The optimal control effect is better at low frequency and high frequency,and the interference suppression ability is strong,and the interference attenuation performance greater than 5 times which can be achieved at about 157 Hz.