基于摩擦补偿的交流伺服工作台爬行控制  

Stick-slip Control of AC Servo Worktable Based on Friction Compensation

作　　者：张涛[1] 路长厚[2] 潘伟[2] 

机构地区：[1]山东建筑大学信息与电气工程学院,山东济南250101 [2]山东大学机械工程学院,山东济南250061

出　　处：《润滑与密封》2007年第9期84-87,共4页Lubrication Engineering

基　　金：教育部科学技术研究重点项目资助(104111).

摘　　要：低速工况下由摩擦引起的爬行现象是影响机械加工精度的重要因素。建立了XY交流伺服工作台爬行的数学模型。设计了一种变结构控制和基于摩擦模型前馈补偿相结合的综合控制策略,用于减小交流伺服工作台爬行对定位精度的影响。仿真和实验结果表明,采用提出的控制策略可以明显降低爬行产生的跟踪误差。In a very low speed, the crawl phenomenon which is caused by friction is an important factor influencing positioning precision. The stick-slip model of XY AC servo worktable was built. In order to reduce the impact of the crawl to the tracking precision of worktable, a control strategy was built which combined the sliding mode control with the feedfor- ward compensation based on the friction model. Simulation and experimental results show that this control strategy can ef- fectively decrease the tracking error.

关 键 词：爬行 摩擦补偿 变结构控制 

分 类 号：TH117.1[机械工程—机械设计及理论]