一种新型双轴差速式微量进给系统的建模与分析

doi:10.3901/JME.2018.09.195

机械工程学报 ›› 2018, Vol. 54 ›› Issue (9): 195-204.doi: 10.3901/JME.2018.09.195

一种新型双轴差速式微量进给系统的建模与分析

杜付鑫^1,2, 冯显英^1,2, 李沛刚^1,2, 岳明君^1,2, 王兆国^1,2

1. 山东大学机械工程学院济南 250061;
2. 山东大学高效洁净机械制造教育部重点实验室济南 250061

收稿日期:2017-05-14 修回日期:2017-11-14 出版日期:2018-05-05 发布日期:2018-05-05
通讯作者: 冯显英(通信作者),男,1965年出生,博士,教授,博士研究生导师。主要研究方向为精密加工与微纳运动控制理论与技术、智能检测与控制技术等。E-mail:fxying@sdu.edu.cn
作者简介:杜付鑫,男,1985年出生,工程师,博士研究生。主要研究方向为机械传动与智能控制。E-mail:dufuxin@sdu.edu.cn
基金资助:
国家自然科学基金（51375266）、国家自然科学基金青年项目（51705289）、山东省自然科学基金培养项目（ZR2017PEE005）和山东省重点研发计划（2015GGX103036）资助项目。

Modeling and Analysis for a Novel Dual-axis Differential Micro-feed System

DU Fuxin^1,2, FENG Xianying^1,2, LI Peigang^1,2, YUE Mingjun^1,2, WANG Zhaoguo^1,2

1. School of Mechanical Engineering, Shandong University, Jinan 250061;
2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture of Ministry of Education, Shandong University, Jinan 250061

Received:2017-05-14 Revised:2017-11-14 Online:2018-05-05 Published:2018-05-05

摘要/Abstract

摘要： 常规驱动进给系统（Conventional drive feed system，CDFS）的低速运行动态性能对机床的跟踪及定位精度、零件表面加工质量等有着非常重要的影响。非线性摩擦使CDFS在低速运行时出现爬行现象，从而严重影响其低速性能。为了克服CDFS的精度极限，提出一种新型的双轴差速式微量驱动进给系统（Dual-axis differential micro-feed system，DDMS）。在DDMS中，将常规"丝杠旋转型"滚珠丝杠副替换为"螺母旋转主驱动型"滚珠丝杠副，丝杠和螺母均由伺服电动机驱动。两个驱动轴（电动机驱动丝杠和电动机驱动螺母）的运动方向一致，速度几乎一样，通过"螺母和丝杠复合驱动"的差速式传动结构进行合成，可以使被驱动件在极低速下获得均匀、稳定的微量进给。和CDFS相比，丝杠和螺母都在高速下旋转，所以滚珠丝杠副的非线性摩擦干扰会显著降低。系统的摩擦特性用LuGre模型来描述，而且对滚珠丝杠传动副和直线运动导轨处的摩擦分别进行建模。通过仿真和试验研究发现，和CDFS相比，DDMS可以使工作台在极低速下获得稳定的速度响应和极高的分辨率。并且，DDMS在低速下的位置跟踪精度也比CDFS高。因此，提出的DDMS可以有效降低摩擦对系统的不利影响，为低速下驱动进给系统动态性能提高建立了基础。

关键词: 低速爬行, 动态摩擦, 驱动进给系统

Abstract: Nonlinear friction in a conventional-drive feed system (CDFS) feeding at low speed is a main factor that contributes to feed-drive complexity. A novel dual-axis differential micro-feed system (DDMS) is developed to overcome the accuracy limitation of CDFS. Instead of the screw-rotating-type ball screw adopted in CDFS, the transmission component of the proposed DDMS is a nut-rotating-type ball screw. In this setup, not only the screw but the nut is also driven by a servo motor. By superposing the two high-speed rotary motions (motor-drive-screw and motor-drive-nut) with equivalent high velocity and the same rotating direction through the novel transmission mechanism, the nonlinear disturbance from the ball screw can be reduced significantly. The friction characteristics of the system are described based on LuGre model which is composed of models of individual feed drive components such as "nut rotating type" ball screw and LM guide including their friction behaviors. The simulation and experimental results show that, comparing with CDFS, DDMS enables the table feeding at a lower steady velocity. Besides that, improved tracking accuracy can be obtained when using the DDMS. Therefore, the proposed DDMS can effectively inhibit the disadvantageous influence of friction and lay the foundation for improvement of dynamic performance of servo system at low speeds.

Key words: drive feed system, low-speed creeping, nonlinear friction

中图分类号:

TG156

杜付鑫, 冯显英, 李沛刚, 岳明君, 王兆国. 一种新型双轴差速式微量进给系统的建模与分析[J]. 机械工程学报, 2018, 54(9): 195-204.

DU Fuxin, FENG Xianying, LI Peigang, YUE Mingjun, WANG Zhaoguo. Modeling and Analysis for a Novel Dual-axis Differential Micro-feed System[J]. Journal of Mechanical Engineering, 2018, 54(9): 195-204.

参考文献

[1] 罗亮,张为民,周敏剑. 滚珠丝杠进给系统动态特性集中质量建模与仿真[J]. 农业机械学报, 2015, 46(12):370-377. LUO Liang, ZHANG Weimin, ZHOU Minjian. Dynamic characteristics modeling and simulation of ball screw feed drive system based on lumped mass model[J]. Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(12):370-377.
[2] 卢秉恒,赵万华,张俊,等. 高速高加速度下的进给系统机电耦合[J]. 机械工程学报, 2013, 49(6):2-11. LU Bingheng, ZHAO Wanhua, ZHANG Jun, et al. Electromechanical coupling in the feed system with high speed and high acceleration[J]. Journal of Mechanical Engineering, 2013, 49(6):2-11.
[3] 雷杰,邹玮,陆新江,等. 大型模锻装备锻造过程建模与运行分析[J]. 机械工程学报, 2015, 51(18):26-33. LEI Jie, ZOU Wei, LU Xinjiang, et al. Modeling and operating performance analysis for complex forging system[J]. Chinese Journal of Mechanical Engineering, 2015, 51(18):26-33.
[4] 刘丽兰,刘宏昭,吴子英,等. 考虑摩擦和间隙影响的机床进给伺服系统建模与分析[J]. 农业机械学报, 2010, 41(11):212-218. LIU Lilan, LIU Hongzhao, WU Ziying, et al. Modeling and analysis of machine tool feed servo systems with friction and backlash[J]. Transactions of the Chinese Society for Agricultural Machinery, 2010, 41(11):212-218.
[5] KONG Xiangdong, YU Bin, QUAN Liangxiao, et al. Nonlinear mathematical modeling and sensitivity analysis of hydraulic drive unit[J]. Chinese Journal of Mechanical Engineering, 2015, 28(5):999-1011.
[6] CANUDAS de WIT C, LINSCHINSKY P. Adaptive friction compensation with partially known dynamic friction model[J]. Int. J. Adaptive Control Signal Process 2007, 11:65-80.
[7] ARMSTRONG B, DUPONT P. Friction modeling for control[C]//In American Control Conference 1993, 30:1905-1909.
[8] CANUDAS de WIT C, OLSSON H, ASTROM K J. A new model for control of systems with friction[J]. IEEE Trans Automat Control 1995, 40(3):419-425.
[9] LEE W, LEE C Y, JEONG Y H, et al. Distributed component friction model for precision control of a feed drive System[J]. IEEE/ASME Trans. Mechatron, 2015, 20(4):1966-74.
[10] 吴跃飞,马大为,姚建勇,等. 基于修正LuGre模型的自适应鲁棒控制在机电伺服系统中的应用[J]. 机械工程学报, 2014, 50(22):207-212. WU Yuefei, MA Dawei, YAO Jianyong, et al. Application of adaptive robust control in mechatronic servo system based on modified LuGre model[J]. Journal of Mechanical Engineering, 2014, 50(22):207-212.
[11] TAN Yaolong, CHANG Jie, TAN Hualin. Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties[J]. IEEE Transactions on Industrial Electronics, 2003, 50(5):944-952.
[12] 李毅波, 张猛, 黄明辉, 等. 模锻压机低速运行摩擦力的参数辨识与补偿控制[J]. 华南理工大学学报, 2013, 41(7):38-44. LI Yibo, ZHANG Meng, HUANG Minghui, et al. Parameter identification and compensation control of friction for die-forging press running at low speed[J]. Journal of South China University of Technology, 2013, 41(7):38-44.
[13] 徐智浩,李胜,张瑞雷,等. 基于LuGre摩擦模型的机械臂模糊神经网络控制[J]. 控制与决策,2014,29(6):1097-1102. XU Zhihao, LI Sheng, ZHANG Ruilei, et al. Fuzzy-neural-network control for robot manipulators with LuGre friction model[J]. Control and Decision, 2014, 29(6):1097-1102.
[14] ZHANG Yanming, YAN Peng, ZHANG Zhen. High precision tracking control of a servo gantry with dynamic friction compensation[J]. ISA Transactions, 2016, 62:349-356.
[15] FREIDOVICH L, ROBERTSSON A, SHIRIAEV A, et al. Friction compensation based on LuGre model[C]//Proceedings of the 45th IEEE Conference on Decision and Control, IEEE, 2006, 3837-3842.
[16] CANUDAS de WIT C, ASTROM K J, SORIN M. Slides of the workshop on control of systems with friction[C]//Proc. Mater. Workshop IEEE CDC, 1998.

一种新型双轴差速式微量进给系统的建模与分析

Modeling and Analysis for a Novel Dual-axis Differential Micro-feed System

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	姜绍娜, 陈晓阳, 顾家铭, 张涛. 陀螺框架轴承摩擦力矩分析[J]. 机械工程学报, 2016, 52(7): 60-68.
[2]	奚如如;王兴松;鲁婧;盛陈. 套索传动特性建模分析[J]. , 2012, 48(17): 38-44.