摘要
为了研究机床进给系统的动态特性,提升摩擦力影响下的运动控制效果,建立机床进给系统动力学模型与机电耦合仿真模型。定义基于赫兹接触理论与吉村允效法的部件结合部刚度,通过控制变量法分析进给系统一阶固有频率的影响因素,利用有限元软件对动力学模型进行验证,解释误差出现的原因。并利用PID控制加前馈控制对比分析有无摩擦补偿下的运动控制效果。结果表明:工作台质量和位置以及丝杠螺母副刚度变化对进给系统一阶固有频率影响显著;加入的前馈补偿能够有效消除因黏性摩擦产生的“平顶”、“死区”不良现象。
In order to study the dynamic characteristics of the machine tool feed system,improve the motion control effect under the influence of friction,the dynamic model and electromechanical coupling simulation model of machine tool feed system were established.The stiffness of the joint was defined based on Hertz theory and Yoshimura method,and the influencing factors of the first-order natural frequency of the feed system were analyzed by control variable method.The dynamic model was verified by finite element software,and the causes of errors were explained.The motion control effects with or without friction compensation were compared by using PID control and feedforward control.The results show that the changes in table quality and position and the stiffness of the screw nut have a significant impact on the first-order natural frequency of the feed system,and the feed-forward can effectively eliminate the“flat top”and“dead zone”undesirable phenomena caused by viscous friction.
作者
陈哲钥
张建业
吕张成
刘浩
CHEN Zheyao;ZHNAG Jianye;LYU Zhangcheng;LIU Hao(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387,China)
出处
《机床与液压》
北大核心
2023年第13期166-171,共6页
Machine Tool & Hydraulics
基金
国家科技重大专项子课题(2019ZX04005-001-014)。
关键词
滚珠丝杠
进给系统
机电耦合
前馈控制
Ball screw
Feed system
Electromechanical coupling
Feedforward control
