X-Y工作台摩擦误差补偿方法的研究  

Compensation of Friction Error for X-Y Table

作　　者：陈光胜[1] 梅雪松[1,2] 陶涛[1] 

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安交通大学机械制造系统工程国家重点实验室,西安710049

出　　处：《西安交通大学学报》2011年第1期69-73,共5页Journal of Xi'an Jiaotong University

基　　金：国家高技术发展计划资助项目(2008AA042405);国家科技重大专项资助项目(2009ZX04014-023)

摘　　要：为了降低摩擦造成的数控机床轮廓的误差,以X-Y平台为研究对象,采用数学推导、仿真和实验等方法,对摩擦误差的产生机理和补偿方法进行了研究.从瞬态响应的视角揭示了摩擦误差的产生机理,提出的数学方法能精确计算出摩擦误差出现的时机、持续时间,以及由摩擦产生的最大跟随误差.同时,提出了一种基于双脉冲补偿方波的误差补偿方法,可利用数学推导来确定补偿脉冲的参数(脉冲高度、宽度、起始位置),通过在位置指令中加入补偿脉冲可使工作台尽快脱离工作死区,快速逼近理想轨迹.数值仿真和实验结果表明,该方法将摩擦产生的突起误差高度由15μm降低为2μm,达到了较理想的误差补偿效果.To reduce contour error due to friction of computer numerical control （CNC） machine tools, the reason that quadrant protrusions in circular motion of X-Y table occurs and the method for error compensation are investigated by simulations and experiments. The mechanism of emergence of friction error can be revealed by performance analysis of transient response of the servo system. A new approach for compensation of friction error with double compensation pulses is proposed. The parameters of compensation pulses such as magnitudes, widths and time of starting are determined mathematically. The input commands with compensation pulse makes the worktable escape from dead region at the best time, and the worktable approaches to ideal feed path along the guide as rapidly as possible. The simulation and experiment show that the magnitude of protrusions due to friction are reduced from 15 μm to 2 μm to achieve the desired situation effectively.

关 键 词：摩擦误差 误差补偿 伺服系统建模 X-Y工作台 

分 类 号：TP271.3[自动化与计算机技术—检测技术与自动化装置]