速度反向区间的非线性摩擦分析与控制补偿研究  

Research on Nonlinear Friction Compensation at velocity reversal

作　　者：崔宪莉[1] 孙容磊[2] 熊有伦[2] 

机构地区：[1]中国航天科工集团二院23所,北京100854 [2]华中科技大学机械学院,武汉430073

出　　处：《组合机床与自动化加工技术》2006年第3期39-41,46,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点基础研究发展计划973项目(2003CB716207);国家自然科学基金资助项目(50390064;50335020)

摘　　要：在分析数控系统中X-Y工作台静摩擦力特性的基础上,针对影响速度过零点运动性能的非线性摩擦因素,提出一种便于工程应用的摩擦力补偿方法。为了辨别速度反向时的摩擦力状态,导出了用加速度表示的零速度时间间隔表达式,给出了用零速度时间间隔辨别摩擦力状态的摩擦补偿模型。实验结果表明,所提出的摩擦补偿模型有效地改善了系统极低速和速度反向运动区域的控制性能。Aiming at the nonlinear friction factors that affect the performance of motion control at zero velocity, this paper analyses the characteristics of pre-sliding friction of X-Y table of CNC machining center, and presents a simple and effective method of friction compensation based on these characteristics. In order to distinguish its regime at velocity reversal, the relationship between the transition time and the acceleration at zero velocity has been investigated, Using the transition time the friction can be well compensated and the experimental results show that the system performance can be improved effectively using the proposed model at low velocity and countermove.

关 键 词：零速度时间间隔 摩擦补偿 X—Y工作台 数控系统 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]