基于摩擦补偿的机床进给系统控制器

摘要

In order to make up the defect of the design of the controller of the machine feed system.In this paper,the machine feed system was selected as the research object and studied it based on the friction compensation method of the machine tool guide.Firstly,the basic structure of the machine control system is established,and its Stribeck curve and Hysteresis curve are explored.Secondly,the mathematical model of the dynamic model of the feed driver is proposed,and the control strategy of the software system is put forward,and the hardware system,and the main circuit and the control circuit are drawn.Finally,the simulation and experimental research on the machine feed control system are carried out based on the hardware system and the software system.The results show that the PD control strategy is more effective than DOBVSC and PD + FF + DOB in the region between 2.0 and 2.2 s.In the region between 4.0 and 4.2 s,the PD + FC control strategy maintains the friction compensation performance better the error of the experimental error and the simulated value of the tracking error of the feed driver controlled by different compensation control methods is less than 7％,and the state observation method (PD + FC)belongs to the optimal control strategy.%为了弥补机床进给系统控制器的设计缺陷,以机床进给系统为研究对象,基于机床导轨的摩擦补偿方法对其进行研究.首先,建立了机床控制系统的基本结构,并探究了其Stribeck曲线和Hysteresis衄线;其次,提出了馈送驱动器的动态模型的数学模型,并给予动态模型提出了软件系统的控制策略,设计了硬件系统,并且绘制了主电路和控制电路;最后,基于硬件系统和软件系统对机床进给控制系统进行了仿真实验研究.研究结果发现:在2.0～2.2 s之间的区域中PD控制策略比DOBVSC和PD+ FF+ DOB更有效;在4.0～4.2 s之间的区域中,PD+FC控制策略维持摩擦补偿性能更好;不同补偿控制方法控制的进给驱动器的跟踪误差的实验值和模拟值的误差低于7％,且状态观察法(PD+ FC)属于最优控制策略.