基于输入整形的丝杠传动的振动误差补偿

Vibration Error Compensation of Lead Screw Transmission Based on Input Shaping

针对丝杠传动系统中存在的由机械结构弹性形变产生的振动误差,首先,通过改进集中参数法与分布式参数法相结合的方法建立系统拉格朗日方程,从而求得动力学模型,得到X、Y方向上的传递函数,并将闭环传递函数进行降阶处理;然后,在Simulink中仿真实验,根据降阶函数计算输入整形器参数,分别比较ZV输入整形和ZVD输入整形的误差补偿效果;最后,在自主研发的实验平台进行应用验证:在负载较轻的X轴运动时,两种补偿方法稳定性相差不多,ZV输入整形器调整时间更短;而在负载较重的Y轴运动时,ZVD输入整形器更稳定。

Aiming at the vibration error caused by the elastic deformation of the mechanical structure in the lead screw drive system,the Lagrange equation of the system is established by combining the improved lumped parameter method with the distributed parameter method,so as to obtain the dynamic model,obtain the transfer functions in the X and Y directions,and reduce the order of the closed-loop transfer function.Then,through simulation experiments in Simulink,the input shaper parameters are calculated based on the reduced order function,and the error compensation effects of ZV input shaping and ZVD input shaping are compared.Finally,the application verification was conducted on a self-developed experimental platform:when the load is light on the X-axis movement,the stability of the two compensation methods is not much different,and the ZV input shaper adjustment time is shorter;When the load is heavy on the Y-axis movement,the ZVD input shaper is more stable.