机电-刚柔耦合特性作用下线性进给系统动力学分析

doi:10.3901/JME.2017.17.060

机械工程学报 ›› 2017, Vol. 53 ›› Issue (17): 60-69.doi: 10.3901/JME.2017.17.060

机电-刚柔耦合特性作用下线性进给系统动力学分析

李杰¹, 谢福贵¹, 刘辛军^1,2, 刘大炜³, 李福华², 姜忠⁴

1. 清华大学机械工程系北京 100084;
2. 清华大学精密超精密制造装备及控制北京市重点实验室北京 100084;
3. 成都飞机工业(集团)有限责任公司成都 610092;
4. 电子科技大学机械电子工程学院成都 611731

收稿日期:2016-11-21 修回日期:2017-05-08 出版日期:2017-09-05 发布日期:2017-09-05
通讯作者: 刘辛军(通信作者),男,1971年出生,博士,教授,博士研究生导师,德国洪堡学者,国家杰出青年基金获得者,长江学者特聘教授,国家"万人计划"领军人才。主要研究方向为机构学与机器人,先进制造装备。E-mail:xinjunliu@mail.tsinghua.edu.cn
作者简介:李杰,男,1987年出生,博士研究生。主要研究方向为五轴数控机床加工精度改善方法。E-mail:jie-li13@mails.tsinghua.edu.cn
基金资助:
国家科技重大专项资助项目（2013ZX04001-021）

Dynamic Modeling of a Linear Feed Axis Considering the Characteristics of the Electro-mechanical and Rigid-flexible Coupling

LI Jie¹, XIE Fugui¹, LIU Xinjun^1,2, LIU Dawei³, LI Fuhua², JIANG Zhong⁴

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
2. Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing 100084;
3. Chengdu Aircraft Industrial(Group) Co., Ltd., Chengdu 610092;
4. School of Mechatronics Engineering, University of Electronic Science and Technology of China, Chengdu 611731

Received:2016-11-21 Revised:2017-05-08 Online:2017-09-05 Published:2017-09-05

摘要/Abstract

摘要： 动力学特性是影响进给系统动态误差的关键因素。机电-刚柔耦合特性作用下动态误差的产生机理尚未得到系统性阐述，这使得进给系统动力学优化和动态误差抑制研究依然存在一定盲区。考虑线性进给系统的集中柔性和分布柔性特征，构建了进给系统的机电-刚柔耦合动力学模型，通过数值仿真讨论了进给系统对阶跃信号和正弦信号的响应特性，分析了线性进给系统动态误差的产生过程及各类因素对动态误差的影响规律。所构建的机电-刚柔耦合动力学模型能够系统性地阐述动态误差的产生过程，可为直线进给系统动力学优化设计以及动态误差抑制研究奠定理论基础。

关键词: 动力学特性, 刚柔耦合, 机电耦合, 进给轴, 三环控制

Abstract: The dynamic performance is a key factor that influences the dynamic accuracy of a feed axis servo system. The mechanism of dynamic errors with the electro-mechanical and rigid-flexible coupling characteristics has not been revealed. It leads to a blind region for the research on the dynamic optimal design and dynamic errors suppression of a feed axis servo system. Considering the concentrated and distributed flexibility of the structure, the dynamic model of a feed axis servo system is established based on the electro-mechanical and rigid-flexible coupling characteristics. According to analyzing the response of the dynamic model to step and sine signals in simulation, how the dynamic errors are produced is discussed and the influence of important factors on the dynamic errors is analyzed. The proposed dynamic model can systematically illustrated the formation of dynamic error, which lays a theoretical foundation for the dynamic optimal design and dynamic error suppression of the feed axis servo system.

Key words: dynamic performance, electro-mechanical coupling, feed axis servo system, rigid-flexible coupling, three-loop control

中图分类号:

TG659

李杰, 谢福贵, 刘辛军, 刘大炜, 李福华, 姜忠. 机电-刚柔耦合特性作用下线性进给系统动力学分析[J]. 机械工程学报, 2017, 53(17): 60-69.

LI Jie, XIE Fugui, LIU Xinjun, LIU Dawei, LI Fuhua, JIANG Zhong. Dynamic Modeling of a Linear Feed Axis Considering the Characteristics of the Electro-mechanical and Rigid-flexible Coupling[J]. Journal of Mechanical Engineering, 2017, 53(17): 60-69.

参考文献

[1] 沈金华, 杨建国. 基于对角线测量的机床空间定位误差热变化分析[J]. 华南理工大学学报, 2008, 36(10):125-128. SHEN Jinhua, YANG Jianguo. Thermal variation analysis of spatial positioning error of machine tool based on diagonal measurement[J]. Journal of South China University of Technology, 2008, 36(10):125-128.
[2] 李杰,刘辛军,谢福贵,等. 基于时变特性的数控机床综合误差建模方法[J]. 科技导报, 2016, 34(2):65-70. LI Jie, LIU Xinjun, XIE Fugui, et al. A comprehensive error modeling method for numerical control machine tools based on time-varying characteristics[J]. Science & Technology Review, 2016, 34(2):65-70.
[3] LI J, XIE F G, LIU X J, et al. Geometric error modeling and sensitivity analysis of a five-axis machine tool[J]. International Journal of Advanced Manufacturing Technology, 2016, 82(9-12):2037-2051.
[4] LI J, XIE F G, LIU X J, et al. Geometric error identification and compensation of linear axes based on a novel 13-line method[J]. The International Journal of Advanced Manufacturing Technology, 2016, 87(5):2269-2283.
[5] GAN S W, HAN-SEOK L, RAHMAN M, et al. A fine tool servo system for global position error compensation for a miniature ultra-precision lathe[J]. International Journal of Machine Tools & Manufacture, 2007, 47(7-8):1302-1310.
[6] SHEN H, FU J, HE Y, et al. On-line asynchronouscompensation methods for static/quasi-static error implemented on CNC machine tools[J]. International Journal of Machine Tools & Manufacture, 2012, 60(1):14-26.
[7] CUI G, LU Y, GAO D, et al. A novel error compensation implementing strategy and realizing on Siemens 840D CNC systems[J]. International Journal of Advanced Manufacturing Technology, 2011, 61(5-8):595-608.
[8] 许桢英, 费业泰, 陈晓怀. 动态精度理论研究与发展[J]. 仪器仪表学报, 2001, 22(4):71-74. XU Zhenying, FEI Yetai, CHEN Xiaohuai. Study and development of the theory of the accuracy of dynamic measurement[J]. Chinese Journal of Scientific Instrument, 2001, 22(4):71-74.
[9] ANDOLFATTO L, LAVERNHE S, MAYER J R R. Evaluation of servo, geometric and dynamic error sources on five axis high-speed machine tool[J]. International Journal of Machine Tools & Manufacture, 2011, 51(10):787-796.
[10] 王磊,刘海涛,杨啸,等. 轴间耦合下多轴联动机床的位置维动态特性分析[J]. 机械工程学报, 2014, 50(15):89-96. WANG Lei, LIU Haitao, YANG Xiao, et al. Position-dependent dynamic analysis of multi-axis machine tool considering axial coupling[J]. Journal of Mechanical Engineering, 2014, 50(15):89-96.
[11] LEI W T, PAUNG I M, YU C C. Total ballbar dynamic tests for five-axis CNC machine tools[J]. International Journal of Machine Tools & Manufacture, 2009, 49(6):488-499.
[12] 刘强, 吴文镜. 数控机床耦合建模与分析技术研究进展[J]. 航空制造技术, 2014(16):8-11. LIU Qiang, WU Wenjing. Research progress of coupled modeling and analysis technology of NC machine tools[J]. Aeronautical Manufacturing Technology, 2014(16):8-11.
[13] KUSHNIR E. Application of operational modal analysis to a machine tool testing[C]//ASME 2004 International Mechanical Engineering Congress and Exposition. 2004:57-62.
[14] ZAGHBANI I, SONGMENE V. Estimation of machine-tool dynamic parameters during machining operation through operational modal analysis[J]. International Journal of Machine Tools & Manufacture, 2009, 49(Suppl. 12-13):947-957.
[15] WANG W, JIANG Z, TAO W, et al. A new test part to identify performance of five-axis machine tool-part I:geometrical and kinematic characteristics of S part[J]. International Journal of Advanced Manufacturing Technology, 2015, 79(5-8):739-756.
[16] RAHAMAN M, SEETHALER R, YELLOWLEY I, et al. A new approach to contour error control in high speed machining[J]. International Journal of Machine Tools & Manufacture, 2015, 88:42-50.
[17] ZHANG G P, HUANG Y M, SHI W H, et al. Predicting dynamic behaviours of a whole machine tool structure based on computer-aided engineering[J]. International Journal of Machine Tools & Manufacture, 2003, 43(7):699-706.
[18] 张会端. 机床进给系统的动力学分析[D]. 长春:吉林大学, 2009. ZHANG Huiduan. The dynamic analysis of the machine drive system[D]. Changchun:Jilin University, 2009.
[19] LIN M T, WU S K. Modeling and analysis of servo dynamics errors on measuring paths of five-axis machine tools[J]. International Journal of Machine Tools & Manufacture, 2013, 66(2):1-14.
[20] LIN M T, WU S K. Modeling and improvement of dynamic contour errors for five-axis machine tools under synchronous measuring paths[J]. International Journal of Machine Tools & Manufacture, 2013, 72(18):58-72.
[21] 王刚. 直流电机伺服控制技术研究与实现[D]. 大连:大连理工大学, 2013. WANG Gang. Research and implementation of DC motor servo control technology[D]. Dalian:Dalian University of Technology, 2013.
[22] 张义民. 机械振动[M]. 北京:清华大学出版社, 2007. ZHANG Yimin. Mechanical vibration[M]. Beijing:Tsinghua University Press, 2007.

机电-刚柔耦合特性作用下线性进给系统动力学分析

Dynamic Modeling of a Linear Feed Axis Considering the Characteristics of the Electro-mechanical and Rigid-flexible Coupling

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	赵丽娟, 范佳艺, 李明昊, 李惠. 采煤机截割部行星架可靠性设计[J]. 机械工程学报, 2019, 55(8): 192-200.
[2]	谷勇霞, 张玉玲, 赵杰亮, 阎绍泽. 考虑含间隙关节的漂浮基空间机械臂动力学输出特性研究[J]. 机械工程学报, 2019, 55(3): 99-108.
[3]	曹树谦, 侯兰兰. GTF发动机设计及动力学问题研究综述[J]. 机械工程学报, 2019, 55(13): 53-63.
[4]	舒锐志, 魏静, 秦大同, 张爱强, 赖育彬. 多源驱动/传动系统机电耦合建模及同步特性研究[J]. 机械工程学报, 2018, 54(7): 63-73.
[5]	王自超, 翟婉明, 陈再刚, 张杰, 王开云. 考虑齿轮传动系统的重载电力机车动力学性能研究[J]. 机械工程学报, 2018, 54(6): 48-54.
[6]	李永泉, 王立捷, 刘天旭, 张阳, 张立杰. 一种并联机器人机电耦合多能域系统动力学参数辨识、控制及试验[J]. 机械工程学报, 2018, 54(11): 141-150.
[7]	徐凯, 李芾, 安琪, 李金城. 车体刚度对集装箱平车动力学性能影响研究[J]. 机械工程学报, 2018, 54(10): 143-150.
[8]	孙伟, 马宏辉, 丁鑫, 王林涛. TBM刀盘驱动系统分层次建模及动力学特性研究[J]. 机械工程学报, 2018, 54(1): 44-55.
[9]	张翔, 叶佩青, 解传滨, 张辉. 基于动力学特性的多叶光栅时间最优轨迹规划^*[J]. 机械工程学报, 2017, 53(6): 16-25.
[10]	王亮, 舒承有, 金家楣, 张建辉. 用于驱动履带的夹心式压电作动器的动力学特性^*[J]. 机械工程学报, 2017, 53(5): 128-135.
[11]	刘志远, 陈炼, 邵珠峰, 王立平, 唐晓强. FAST馈源支撑系统的终端精度保证研究[J]. 机械工程学报, 2017, 53(17): 50-59.
[12]	冷国俊, 王安劳, 陈睿. 基于晶振稳健性数学表征的机电综合优化设计研究[J]. 机械工程学报, 2017, 53(13): 82-89.
[13]	周金柱, 宋立伟, 杜雷刚, 郭东来. 动载荷对结构功能一体化天线力电性能的影响[J]. 机械工程学报, 2016, 52(9): 105-115.
[14]	刘长钊, 秦大同, 廖映华. 采煤机截割部机电传动系统动力学特性分析[J]. 机械工程学报, 2016, 52(7): 14-22.
[15]	王其东, 王金波, 陈无畏, 黄鹤. 基于汽车行驶安全边界的EPS与ESP协调控制策略[J]. 机械工程学报, 2016, 52(6): 99-107.