具有串联轴伺服进给系统的跟随误差控制策略

吕盾; 刘硕; 赵艳超; 李文庆; 赵万华; 卢秉恒

doi:10.7652/xjtuxb202105005

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具有串联轴伺服进给系统的跟随误差控制策略

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- 具有串联轴伺服进给系统的跟随误差控制策略
- Tracking Error Control Strategy for Servo Feed System Connected with Series Axis
- 西安交通大学学报 2021年55卷第5期页码：34-44
- 作者机构：
  
  西安交通大学机械制造系统工程国家重点实验室,西安,710054
- 作者简介：
- 基金信息：
  
  : 2020-10-11。作者简介: 吕盾(1978—),男,副教授,博士生导师。基金项目: 国家自然科学基金资助项目(51775421);陕西省自然科学基金青年基金资助项目(2019JQ-394)
- DOI：10.7652/xjtuxb202105005
  中图分类号： TH16;TG659
- 网络首发：2021-05-10，
  
  纸质出版：2021
- 稿件说明：
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吕盾, 刘硕, 赵艳超, 等. 具有串联轴伺服进给系统的跟随误差控制策略[J]. 西安交通大学学报, 2021,55(5):34-44.

Tracking Error Control Strategy for Servo Feed System Connected with Series Axis[J]. 2021, 55(5): 34-44.
吕盾, 刘硕, 赵艳超, 等. 具有串联轴伺服进给系统的跟随误差控制策略[J]. 西安交通大学学报, 2021,55(5):34-44. DOI： 10.7652/xjtuxb202105005.

Tracking Error Control Strategy for Servo Feed System Connected with Series Axis[J]. 2021, 55(5): 34-44. DOI： 10.7652/xjtuxb202105005.

摘要

针对多轴数控机床中串联轴引入低阶模态

造成跟随误差难以控制的问题

提出一种模态滤波器与陷波滤波器的综合控制策略。首先通过建立具有串联轴滚珠丝杠伺服进给系统的动力学模型

分析串联轴引入的机械模态。其次

设计陷波滤波控制器与模态滤波控制器组合方案

对滚珠丝杠进给系统的高阶模态及串联轴引入的低阶模态进行抑制。最后

分析各个组合方案对伺服带宽及跟随误差的影响。结果表明:对于具有串联轴的滚珠丝杠伺服进给系统

由串联轴引起的低阶模态是限制位置环带宽提高的关键模态; 仅采用工程上常用的陷波滤波器对丝杠一阶、二阶扭转振动等高阶模态进行抑制

无法提高具有串联轴滚珠丝杠伺服进给系统的位置环带宽

也无法有效控制跟随误差; 对于具有串联轴的滚珠丝杠伺服进给系统

其跟随误差控制策略应为速度前馈控制器与低阶模态模态滤波器和高阶模态陷波滤波器的结合。

Abstract

Series axis of multi-axis CNC machine tool introduces low-order modes to result in a difficultly controlled tracking error. A comprehensive control strategy of modal filter and notch filter is proposed. Establishing a dynamic model of the ball-screw servo feed system with a series of shafts

the mechanical modes introduced by the series of shafts are analyzed. A combination scheme of notch filter controller with modal filter controller is designed to suppress the high-order modes of the ball-screw feed system and the low-order modes introduced by the series axis. The influence of each combination scheme on servo bandwidth and tracking error is discussed. It is concluded that for a ball-screw servo feed system with a series axis

the low-order modes caused by the series axis are the key modes that limit the increase in the bandwidth of the position loop; the notch filter commonly used in engineering suppresses high-order modes

such as the first-order and second-order torsional vibration of the screw

which cannot increase the bandwidth of the position loop of the ball-screw servo feed system with serial axis

and cannot effectively control the tracking error. For the ball-screw servo feed system with serial axis

the tracking error control strategy ought to choose as speed feedforward controller+low-order modal filter+high-order modal notch filter.

关键词

Keywords

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