A high-precision motion control method considering the high-order dynamic characteristics of the ball screw feed system
A feed system and ball screw technology, which is applied in the field of high-precision motion control considering the high-order dynamic characteristics of the ball screw feed system, can solve the problems of decreased control effect and increased amplitude of high-frequency components, so as to reduce the The effect of limiting action, eliminating following error, eliminating steady-state displacement fluctuations and residual vibration
Active Publication Date: 2020-01-14
XI AN JIAOTONG UNIV
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In the existing control algorithm, the system modeling is based on the dual inertia model, and the system is equivalent to a second-order system. Although a better control effect can be obtained, with the increase of the feed speed, the high The amplitude of the frequency component increases, and the control effect decreases
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[0045] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.
[0046] The invention discloses a high-precision motion control method considering the high-order dynamic characteristics of a ball screw feed system, which includes the following operations:
[0047] S1) Using the centralized parameter method, for such as figure 1 A high-order multi-rigid body dynamics model is established for the ball screw feed system shown, and the transfer function (Formula 1) and the frequency response characteristic curve of the origin of the motor at the feed system are obtained, and the modal analysis is carried out. Determine the modal parameters of each order and higher-order modes;
[0048]
[0049] The equivalent conditions in the modeling process are as follows:
[0050] ① X-axis moving parts are treated as rigid bodies
[0051] ② The moving joint of the scre...
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The invention discloses a high-precision motion control method considering the high-order dynamic characteristic of a ball screw feed system. A high-order mode filter controller is designed based on mode analysis of a ball screw feed system and the principle of zero-pole cancellation. After control parameters are optimized on the basis, system phase lag is eliminated using a zero phase error tracking control algorithm. Thus, high-precision motion control considering the high-order characteristic of a ball screw feed system is realized. A mode filter controller is designed for the high-order mode of the ball screw feed system, which can weaken the limiting effect of the high-order dynamic characteristic of the feed system on system bandwidth, reduce the tracking error of the feed system, eliminate the steady-state displacement fluctuation and residual vibration of the feed system, and improve the tracking precision and motion stability of the feed system.
Description
technical field [0001] The invention belongs to the technical field of motion control of a ball screw feed system, and relates to a high-precision motion control method considering the high-order dynamic characteristics of the ball screw feed system. Background technique [0002] The ball screw feed system of high-speed machine tools is a dynamic system with multi-order high-frequency resonance frequency under the excitation of servo input force and cutting force, and its dynamic characteristics have high-order characteristics. The high-order dynamic characteristics come from the torsional flexibility, axial flexibility, and flexibility of the joint of the screw. The flexibility of the feed system at high speeds has a prominent impact on the motion accuracy. Improve and produce significant displacement fluctuation errors. The traditional PID cascade control is based on error control. As the speed increases, the control effect cannot be guaranteed, resulting in the following...
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IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/36417Y02P70/10
Inventor 赵万华曹洪勇杨啸郝晓燕刘辉吕盾
Owner XI AN JIAOTONG UNIV