直线伺服电动机摩擦力数值建模与补偿  

Numerical modeling and compensation of friction in linear servo

作　　者：侯明[1] 杨贻俊 李博威 HOU Ming;YANG Yijun;LI Bowei(Automation Laboratory of BISTU,Beijing 100192,CHN)

机构地区：[1]北京信息科技大学自动化实验室

出　　处：《制造技术与机床》2019年第11期38-41,共4页Manufacturing Technology & Machine Tool

基　　金：北京市教委项目“高动态伺服系统摩擦补偿研究”(KM201811232013)

摘　　要：提出采用正弦力驱动的直线电动机摩擦力数值建模方法。说明了该方法的原理,优越性,并说明了实验步骤。之后在d SPACE系统中对某型号的直线伺服电动机进行实验;根据所测数据建立数值模型。通过前馈补偿的方法,对伺服系统在补偿前后的响应进行对比,实验结果表明,该方法所建立的模型正确有效,能有效减小摩擦力的影响。可以预期该种方法作为一种更高效率的测试工具,在研究复杂环境下的摩擦补偿时带来便利。In this paper,a numerical modeling method of frictional force of linear motor driven by sinusoidal force is presented. The principle and superiority of this method are explained,and the experimental steps are explained. Then,the experiment of a certain type of linear motor servo is carried out in the d SPACE system,and the numerical model is established according to the measured data. The response of servo system before and after compensation is compared by feedforward compensation method. The experimental results show that the model established by this method is correct and effective,and can effectively reduce the impact of friction. It can be expected that this method,as a more efficient testing tool,will bring convenience to the study of friction compensation in complex environments.

关 键 词：摩擦 正弦力 直线伺服 数值模型 前馈补偿 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]