负载惯量对双驱进给系统同步误差的影响分析
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摘要
以精密卧式加工中心Z向双驱进给系统为研究对象,研究两轴摩擦力不同及重心偏移的情况下负载惯量对双驱进给系统同步误差的影响。首先,根据其结构及运动特点,建立其全闭环仿真控制模型;其次,利用Matlab/Simulink软件,分析了机械系统各结构参数和速度及加速度与同步误差之间的关系;最后,通过测量MCH63 Z向双驱进给系统在S形位移曲线路径下的同步误差,将实验结果与仿真结果对比,验证了模型及仿真分析的正确性。研究结果可为双驱进给系统结构设计及同步误差补偿研究提供一定的理论依据。
In this paper, the Z-direction dual-drive feed system of precision horizontal machining center is taken as the research object,the influence of load inertia on the synchronization error of dual-drive system under the condition of different frictional forces and gravity center offset is studied.Firstly, according to its structure and motion characteristics, a full-closed simulation control model is established; Secondly, the relationship between structure parameters, speed, acceleration and synchronization error of mechanical system is analyzed by using Matlab/Simulink software; Finally, by measuring the synchronization error of the Z-direction dual-drive feed system of the MCH63 precision horizontal machining center in the S-shaped displacement curve path, the experimental results are compared with the simulation results, and the correctness of the simulation analysis is verified. The research results can provide a theoretical basis for the structural design and synchronization error compensation of the dual-drive feed system.
In this paper, the Z-direction dual-drive feed system of precision horizontal machining center is taken as the research object,the influence of load inertia on the synchronization error of dual-drive system under the condition of different frictional forces and gravity center offset is studied.Firstly, according to its structure and motion characteristics, a full-closed simulation control model is established; Secondly, the relationship between structure parameters, speed, acceleration and synchronization error of mechanical system is analyzed by using Matlab/Simulink software; Finally, by measuring the synchronization error of the Z-direction dual-drive feed system of the MCH63 precision horizontal machining center in the S-shaped displacement curve path, the experimental results are compared with the simulation results, and the correctness of the simulation analysis is verified. The research results can provide a theoretical basis for the structural design and synchronization error compensation of the dual-drive feed system.
引文
[1] 陈琳,程正波,钟文,等.基于伺服响应差异的龙门双轴同步误差产生研究[J].机械设计与制造,2016(5):118-121.
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[10] 李玉霞,赵万华,程瑶,等.动梁式龙门机床的双驱同步控制系统建模[J].西安交通大学学报,2012,46(4):119-124.
[11] 程瑶,梁滔,赵万华.动梁式龙门机床双轴同步系统的模型建立及不同步误差分析[J].机械工程学报,2013,49(13):174-182.
[12] 段明德,臧海超,代京,等.多因素对双驱进给系统不同步误差影响[J].组合机床与自动化加工技术,2018(2):76-80.
[13] 毛仁超,沈安文.基于负载转矩反馈的机械谐振抑制方法[J].计算技术与自动化,2014(1):19-23.
[14] 刘辉,黄莹,赵万华,等.多因素耦合条件下数控机床进给系统负载惯量比的综合分析与设计[J].机械工程学报,2014,50(9):108-113.
[15] 姚延风,刘强,吴文镜.基于刚柔-机电耦合的机床直线电机进给系统动态性能仿真研究[J].振动与冲击,2011,30(1):191-196.
[2] Li C,Yao B,Zhu X,et al.Adaptive robust synchronous control with dynamic thrust allocation of dual drive gantry stage[C]// Ieee/asme International Conference on Advanced Intelligent Mechatronics,IEEE,2014:316-321.
[3] Garciaherreros I,Kestelyn X,Gomand J,et al.Model-based control of a dual-drive H-type gantry stage on a decoupling base[C]// IEEE International Conference on Industrial Technology,IEEE,2010:547-552.
[4] Lin F J,Chou P H,Chen C S.DSP-based synchronous control of dual linear motors via sugeno type fuzzy neural network compensator[C]// International Conference on Electrical Machines and Systems,IEEE,2011:1-6.
[5] 陈海森,张德新,王继河,等.基于H∞-交叉耦合算法的双驱同步控制[J].浙江大学学报(工学版),2017,51(1):131-137.
[6] 程瑶,赵万华,李玉霞,等.动梁式龙门机床双驱动态不同步误差补偿研究[J].中国机械工程,2012,23(8):915-919.
[7] 李萍,朱国力,龚时华,等.基于干扰观测器的龙门机床双驱系统的同步控制[J].中国机械工程,2016,27(19):2630-2636.
[8] 费少华,刘丹,乔明杰,等.端框移动平台双驱同步控制系统设计[J].浙江大学学报(工学版),2016,50(1):85-92.
[9] Li C,Yao B,Zhu X,et al.Dual drive system modeling and analysis for synchronous control of an H-type gantry[C]// IEEE International Conference on Advanced Intelligent Mechatronics IEEE,2015:214-219.
[10] 李玉霞,赵万华,程瑶,等.动梁式龙门机床的双驱同步控制系统建模[J].西安交通大学学报,2012,46(4):119-124.
[11] 程瑶,梁滔,赵万华.动梁式龙门机床双轴同步系统的模型建立及不同步误差分析[J].机械工程学报,2013,49(13):174-182.
[12] 段明德,臧海超,代京,等.多因素对双驱进给系统不同步误差影响[J].组合机床与自动化加工技术,2018(2):76-80.
[13] 毛仁超,沈安文.基于负载转矩反馈的机械谐振抑制方法[J].计算技术与自动化,2014(1):19-23.
[14] 刘辉,黄莹,赵万华,等.多因素耦合条件下数控机床进给系统负载惯量比的综合分析与设计[J].机械工程学报,2014,50(9):108-113.
[15] 姚延风,刘强,吴文镜.基于刚柔-机电耦合的机床直线电机进给系统动态性能仿真研究[J].振动与冲击,2011,30(1):191-196.