进给伺服系统中复杂低速摩擦的作用机理及控制补偿方法研究

项目名称： 进给伺服系统中复杂低速摩擦的作用机理及控制补偿方法研究

项目编号： No.51205307

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 刘丽兰

作者单位： 西安理工大学

项目金额： 25万元

中文摘要： 本项目主要以受复杂低速摩擦影响的全闭环进给伺服系统为研究对象进行动力学建模、摩擦控制补偿及实验研究。建立计入改进摩擦模型的进给伺服系统动力学方程，结合系统辨识理论开发含非线性摩擦的系统的参数辨识方法。通过改变摩擦模型中的关键参数获得低速摩擦特性对系统动态响应的贡献量，分析其作用机理，揭示影响规律。针对进给伺服系统低速进给和速度换向这两种运行状态，提出基于改进摩擦模型的摩擦补偿器，进行低速摩擦补偿。同时，进行闭环控制系统非线性动力学稳定性的研究，给出控制参数调整与极限环减小或消失的关系的一般准则。搭建闭环控制进给伺服系统测量实验平台，自主开发控制软件，进行系统参数辨识和摩擦控制补偿的实验验证。最后，将所得结论应用于工况下数控机床进给伺服系统，实现理论与实践的相互修正。研究成果可在提高进给伺服系统动力学研究的水平、提高进给伺服系统运动精度、结构优化设计和可靠性增长等方面提供理论基础和实验支持。

中文关键词： 进给伺服系统；摩擦；作用机理；补偿；稳定性

英文摘要： The full closed loop controlled feed servo system subjected to complex low-velocity friction will be investigated in this project. Dynamic modelling, friction compensition and experiment reserch of the feed servo system will be proceeded. The dynamic equation of the feed servo system will be established included in the advanced friction model. And the parameter identification method for the system with nonlinear friction will be developed combining with the system identification theory. The contribution of low-velocity friction characteristics on the dynamic responses of the system will be obtained by changing the key parameters of the friction model. Moreover, the action mechanism will be analyzed and the influence patten of the low-velocity friction will also be revealed. Furthermore, the friction compensator based on the advanced friction model for low-velocity friction compensition will be put forward in connection with two opration states of the feed servo system, such as low-velocity feeding and velocity reversion. The nonlinear dynamic stability of the closed loop control system will be studied. The general criterion of the control parameter adjustment to reduce or vanish the limit cycle of the feed servo system will be given. In addition, the experiment platform of a feed servo system with closed loop co

英文关键词： feed servo system；friction；action mechanism；compensation；stability