考虑摩擦和间隙影响的机床进给伺服系统建模与分析.pdfVIP

20 10 年 11月 农 业 机 械 学 报 第41卷 第 11期 DOI:10.3969/ j.issn.1000鄄1298.2010.11.042 考虑摩擦和间隙影响的机床进给伺服系统建模与分析* 刘丽兰摇 刘宏昭摇 吴子英摇 张明洪 (西安理工大学机械与精密仪器工程学院,西安710048) 摇 摇 揖摘要铱摇 进给伺服系统的性能对数控机床的跟踪及定位精度、加工质量等有着重要的作用。 摩擦和间隙的非 线性会导致系统的爬行、振荡等不稳定行为。 针对闭环控制的直联式进给伺服系统,建立了考虑摩擦和间隙的综 合力学模型和数学模型。 研究了低速进给条件下摩擦和间隙非线性对工作台输出的影响,得出了工作台产生爬行 现象的几种可能条件,并给出消除进给系统爬行现象的几种常见措施。 所得结论为进给伺服系统的优化设计和性 能预测提供了理论支持。 关键词:机床摇 进给伺服系统摇 摩擦摇 间隙摇 爬行摇 模型 中图分类号:TH117;TP801 文献标识码:A 文章编号:1000鄄1298(2010)11鄄0212鄄07 Modeling and Analysis of Machine Tool Feed Servo Systems with Friction and Backlash Liu Lilan摇 Liu Hongzhao摇 Wu Ziying摇 Zhang Minghong (School of Mechanical and PrecisionInstrument Engineering,Xi爷an University of Technology,Xi爷an710048,China) Abstract The performance of the feed servo system has an important effect on CNC machine tools,including the tracking and position accuracy as well as the surface quality of the machined part. The nonlinear factorssuchasfrictionandbacklashcaninduceunstablebehaviorssuchasstick鄄slipandoscillationofthe feed servo system. The mechanical and mathematical models containing friction and backlash were established for the motor direct鄄connected feed servo system with close loop controller. The effects of friction and backlash on the worktable under low feeding velocity were studied. A few of possible conditions for the stick鄄slip occurrence of the worktable were obtained. And some means for cancelling the stick鄄slip behavior of the feed servo system were presented at last. The research results provided a theoretical support for the optimum design and performance forecast of the feed servo system. Key words摇 Machine tool,Feed servo system,Frictio