摘要
为了克服系统摩擦给系统带来的稳态误差和低速爬行问题,利用控制策略来补偿摩擦非线性对系统运动的负面影响是降低摩擦非线性负面影响的有效且节俭的途径。首先对交流伺服驱动的工作台进给系统进行了摩擦力测量实验,根据实验数据,建立了用于摩擦补偿控制的简化Stribeck摩擦力模型。由于XY工作台进给传动机构中存在的伺服滞后和摩擦是降低工作台位置跟踪精度两个主要因素,所以一个完整的前馈补偿方案应该包括两个部分:摩擦前馈补偿器和命令前馈补偿器。分别对命令前馈控制器和摩擦前馈补偿控制器进行了理论设计,借助于现有的GT-400运动控制器的功能,添加摩擦力补偿模块提升了工作台的跟踪精度,并和没有前馈补偿的传统控制器进行了对比研究,实验结果表明带有命令前馈和摩擦前馈的控制方案能取得更好的控制性能。
In order to overcome steady error and stick-slip brought by friction to the system, it is an effective and saving-money way to eliminate nonlinear friction influences by means of control strategy to compensate nonlinear friction negative impacts on system motion. Firstly, friction measurement experiments are performed on an AC servo worktable feed system. According to experimental data, a simplified Stribeck friction model is built. Because servo lag and friction existing in XY worktable feed system are two predominant factors which reduce position tracking precision of the worktable, a complete feed-forward compensation scheme should contain two parts： a friction feed-forward compensator and a command feed-forward compensator. Respectively, theoretical design of the command feed-forward compensator and the friction feed-forward compensator are carried out. By aid of the function of the present GT-400 motion controller, a friction compensation module is added so as to improve the tracking precision of the system. And Compared to the traditional controller without feed-forward compensation, experimental results show the control scheme with command and friction feedforward compensation can obtain better control performance.
出处
《组合机床与自动化加工技术》
2006年第12期33-37,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
教育部科学技术研究重点项目资助(项目批准号:104111)
关键词
摩擦
补偿控制
前馈
交流伺服工作台进给系统
friction
compensation control
feedforward
an AC servo worktable feed system
