• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (13): 153-159.

• 论文 • 上一篇    下一篇



  1. 西安交通大学机械制造系统工程国家重点实验室;西安交通大学机械工程学院
  • 发布日期:2011-07-05

Frequency Response Identification for Ballscrew Servo Driven System Based on Symlets Wavelet

LIU Dong;MEI Xuesong;FENG Bin;ZHANG Dongsheng   

  1. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University School of Mechanical Engineering, Xi’an Jiaotong University
  • Published:2011-07-05

摘要: 高速、高加速度条件下,滚珠丝杠进给系统所具有的弹性特性会对其频率响应特性造成很大影响。通过分析转矩输入信号和加速度输出信号的幅值和相位关系可以实现对进给系统频响特性的辨识。通过集中质量方法对弹性滚珠丝杠传动系统进行建模,由拉格朗日能量法和状态空间分析对系统的频响特性进行计算。并进一步利用试验方法完成进给系统频响特性的辨识。为了减少量化噪声、白噪声和有色噪声对辨识信号的影响,提出通过Symlets小波滤波方法对有限差分方法得到的加速度信号进行小波滤波处理后,再进行幅值和相位信号的提取和频响函数的拟合。仿真和试验最终证明Symlets小波滤波方法能有效地减少噪声对加速度信号的影响,提取出有效信号,实现对进给系统频响特性更为精确地辨识。

关键词: Symlets小波滤波, 滚珠丝杠, 加速度信号, 频响特性, 伺服系统

Abstract: Under the condition of high speed and high acceleration, the elastic property of ballscrew feed system will have great influence on its frequency response characteristics. And the frequency response characteristic can be identified through the analysis of amplitude and phase relationship between the torque input signal and acceleration output signal. The elastic ballscrew drives system is first modeled through lumped mass method, and the frequency response characteristic is calculated by Lagrange energy method and state space analysis. In the experimental identification process, in order to reduce the effects of quantization noise, white noise and color noise on identification signal, the Symlets wavelet filter method combined with finite differences is adopted to retrieve the acceleration signal that is severely contaminated by noise, then the amplitude and phase signals are extracted and the frequency response function is fitted. The simulation and experiment results demonstrate the Symlets wavelet can effectively reduce the adverse effect of noise signal and extract effective acceleration signal, so the overall accuracy of frequency response identification is improved.

Key words: Acceleration signal, Ballscrew, Frequency response, Servo driven system, Symlets wavelet filter