Method for friction compensation of ball screw feeding system

A ball screw and feed system technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve problems such as control rules relying on experience and expert knowledge, and fuzzy control learning ability is not strong.

Active Publication Date: 2014-07-16
SOUTHEAST UNIV
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Problems solved by technology

However, the learning ability of fuzzy control is not strong, and the control rules are too dependent on experience and

Method used

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  • Method for friction compensation of ball screw feeding system
  • Method for friction compensation of ball screw feeding system
  • Method for friction compensation of ball screw feeding system

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Embodiment Construction

[0091] The present invention is a model-based friction feed-forward compensation method. The compensation strategy is firstly to collect the friction data of the system, and at the same time establish a mathematical model that can accurately describe the friction of the system. Perform offline identification. Then, use this friction model in the controller to estimate the friction disturbance at the command speed of the system, and add the corresponding speed compensation amount to the command speed. Finally, use the compensated signal to control the operation of the feed mechanism.

[0092] The concrete steps of the specific embodiment of the present invention are as follows:

[0093] 1. Specify the speed v when the ball screw runs at a constant speed i , to obtain the armature current I(v i ) and moment constant k t .

[0094] speed v i When , the motor output torque and armature current satisfy the following relationship:

[0095] m i =k t ·I(v i ) (1)

[0096]...

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Abstract

The invention discloses a method for friction compensation of a ball screw feeding system. On the basis that the actual friction phenomenon of the system is analyzed, segmented models of friction torque in speed sections are provided, friction in the low-speed section is modeled through a Steck Berry model, and friction in the high-speed section is modeled through a logarithmic model. Unknown parameters of the friction models are recognized through a hybrid genetic algorithm, the friction compensation amount at the real-time speed is estimated based on the recognized friction models, and friction compensation of the system is achieved in a compensation amount feedforward mode. Through the segmented friction model, friction in the ball screw feeding system is accurately described, the parameters of the friction models are accurately recognized through the designed hybrid genetic algorithm, motion accuracy of the ball screw feeding system is improved based on the feedforward compensation mode of the friction models, and the method can be widely applied to various systems which comprise ball screw feeding mechanisms.

Description

technical field [0001] The invention relates to a friction compensation method for a servo feed system of a machine tool, and provides a friction error compensation method based on a segmented friction model, which belongs to the technical field of control of high-precision machine tools. Background technique [0002] As industrial production has higher and higher requirements for machine tool machining accuracy, eliminating the influence of friction on the motion accuracy of the core component of machine tool processing—the ball screw mechanism has become an important means to improve the machining accuracy of machine tools. As an interfering factor, friction can make the high-precision feed mechanism appear "top-cutting" phenomenon during position tracking, and "zero-crossing distortion" phenomenon occurs during speed tracking. In position servo control, friction is still the main cause of "dead zone" and "limit exchange oscillation". Therefore, for precision machining and...

Claims

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Application Information

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IPC IPC(8): G05B19/404
Inventor 胡建中武奎许飞云贾民平黄鹏
Owner SOUTHEAST UNIV
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