Frictional force prediction and compensation method of feeding system and computer readable storage medium

Abstract

Disclosed are a frictional force prediction and compensation method of a feeding system and a computer readable storage medium, wherein the frictional force prediction and compensation method of the feeding system includes the following steps: after the feeding system is started, continuously acquiring a current signal and an angular position signal when a motor rotates through a motor driver; estimating the friction force of the motor at each rotation position according to the current signal and the angular position signal, and generating a plurality of friction force data; establishing a friction force model according to the plurality of estimated friction force data and each corresponding angular position signal; converging the current angular position signal of the motor into a friction force model to predict the predicted friction force of the feeding system; calculating a compensation current based on the predicted friction force; and controlling the motor driver to additionally apply compensation current to the motor, so that the motor overcomes the friction force.

Description

technical field [0001] The invention relates to a feed system, in particular to a friction prediction and compensation method for the feed system. Background technique [0002] Generally speaking, the motor used in the feed system (such as automation equipment) will have a speed discontinuity at the moment of reverse rotation because there is not enough power to overcome the maximum static friction generated by the mechanical components. Processing lines are produced in all directions, which affects the processing quality and precision of the feeding system. [0003] refer to figure 1 , is a schematic diagram of the feed system and friction force. like figure 1 As shown in (a), the feed system 1 is generally equipped with one or more sets of mechanical components 11. After the feed system 1 is started, the motor (not shown) can be controlled to rotate, and the rotation of the motor drives the mechanical components 11. Move repeatedly towards up, down, left, right, front,...

AI Technical Summary

Problems solved by technology

[0002] Generally speaking, the motor used in the feed system (such as automation equipment) will have a speed discontinuity at the moment of reverse rotation because there is not enough power to overcome the maximum static friction generated by the mechanical components. The processing lines are produced in the direction, which affects the processing quality and precision of the feeding system

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