基于机电-刚柔混合的H型双驱进给系统状态相关动态特性分析

doi:10.3901/JME.2023.03.098

机械工程学报 ›› 2023, Vol. 59 ›› Issue (3): 98-109.doi: 10.3901/JME.2023.03.098

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基于机电-刚柔混合的H型双驱进给系统状态相关动态特性分析

刘琪¹, 卢红¹, 张新宝², 代家舜¹

1. 武汉理工大学机电工程学院武汉 430070
2. 华中科技大学机械科学与工程学院武汉 430074

收稿日期:2022-03-21 修回日期:2022-09-20 出版日期:2023-02-05 发布日期:2023-04-23
通讯作者: 张新宝(通信作者),男,1965年出生,博士,副教授。主要研究方向为公差技术、精密测量及其在精密机械中的应用。E-mail:zhangxinbao1@hust.edu.cn
作者简介:刘琪,男,1993年出生,博士研究生。主要研究方向为数控装备动力学建模、误差补偿与控制。E-mail:liunuli@whut.edu.cn
基金资助:
国家自然科学基金(51675393)和湖北省知识产权“三大工程”(2019-1-76)资助项目。

Research on State-dependent Dynamic Characteristics of H-type Dual Drive Feed System Based on Electro-mechanical and Rigid-flexible Coupling

LIU Qi¹, LU Hong¹, ZHANG Xinbao², DAI Jiashun¹

1. School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070;
2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074

Received:2022-03-21 Revised:2022-09-20 Online:2023-02-05 Published:2023-04-23

摘要/Abstract

摘要： 动态特性是影响H型双驱进给系统定位精度的关键因素。基于重心驱动原理的H型双驱进给系统在位置状态变化时无法保证双轴驱动力合力通过运动件重心造成系统产生动态误差,从而导致H型双驱进给系统的定位精度提升依然存在困难。从H型双驱进给系统的结构特性分析出发,考虑H型横梁和移动部件位置状态对系统动力学参数的影响,建立了H型双驱进给系统刚柔耦合动力学模型。结合伺服电机控制模型,采用状态空间方法得到H型双驱进给系统的机电-刚柔混合模型。利用模态实验验证所建立的动力学模型的正确性。通过数值仿真分析了系统对阶跃信号、S型信号和斜坡信号的响应特性,得到了H型横梁和移动部件位置状态、进给速度状态和同步控制策略对H型双驱进给系统的动态误差、跟踪误差和同步误差大小的影响规律。所建立的机电-刚柔混合模型能够有效地揭示H型双驱进给系统状态相关参数对系统定位精度的影响,可为H型双驱进给系统同步控制和误差补偿研究奠定理论基础。

关键词: H型双驱进给系统, 机电-刚柔混合, 状态相关参数, 同步控制策略, 动态特性

Abstract: Dynamic characteristic is the key factor affecting the positioning accuracy of H-type dual drive feed system (HTDDFS). When the position states change, the HTDDFS, based on the drive center at gravity (DCG) principle, cannot guarantee that the resultant force of the dual axis driving forces can pass through the center of gravity of the moving frame, resulting in the dynamic error of the system, so it is still difficult to improve the positioning accuracy of the HTDDFS. Based on the analysis of the structural characteristics of the HTDDFS, the influence of position states of H-type crossbeam and spindle moving parts on the dynamic parameters of the system are considered, and then the rigid flexible coupling dynamic model of the HTDDFS is established. Combined with the control model of the servo motor, the electro-mechanical and rigid-flexible hybrid model of the HTDDFS is obtained by using the state space method. The correctness of the established dynamic model is verified by modal experiment. Through numerical simulation, the response characteristics of the system to step signal, S-shaped signal and slope signal are analyzed, and the influence of position states, feedrate states and synchronization control strategies on the dynamic error, tracking error and synchronization error of the HTDDFS are obtained. The electro-mechanical rigid-flexible hybrid model can effectively reveal the influence of state-dependent parameters of the HTDDFS on the positioning accuracy of the system, and lay a theoretical foundation for the research of synchronous control and error compensation of the HTDDFS.

Key words: H-type dual drive feed system, electro-mechanical and rigid-flexible coupling, state-dependent parameters, synchronization control strategy, dynamic characteristics

中图分类号:

TG659

刘琪, 卢红, 张新宝, 代家舜. 基于机电-刚柔混合的H型双驱进给系统状态相关动态特性分析[J]. 机械工程学报, 2023, 59(3): 98-109.

LIU Qi, LU Hong, ZHANG Xinbao, DAI Jiashun. Research on State-dependent Dynamic Characteristics of H-type Dual Drive Feed System Based on Electro-mechanical and Rigid-flexible Coupling[J]. Journal of Mechanical Engineering, 2023, 59(3): 98-109.

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基于机电-刚柔混合的H型双驱进给系统状态相关动态特性分析

Research on State-dependent Dynamic Characteristics of H-type Dual Drive Feed System Based on Electro-mechanical and Rigid-flexible Coupling

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