含间隙曲柄滑块机构的动力学建模及其误差补偿研究  

Dynamic modeling and error compensation of crank slider mechanism with clearance

作　　者：陈庆[1,2] 薛邵文 林乃昌[1,2] CHEN Qing;XUE Shao-wen;LIN Nai-chang(School of Mechanical Engineering,Luzhou Vocational and Technical College,Luzhou 646005,China;Luzhou Key Laboratory of Intelligent Manufacturing,Luzhou 646005,China)

机构地区：[1]泸州职业技术学院机械工程学院,四川泸州646005 [2]泸州市智能制造重点实验室,四川泸州646005

出　　处：《机电工程》2021年第8期989-995,共7页Journal of Mechanical & Electrical Engineering

基　　金：泸州市智能制造重点实验室基金资助项目(ZZ202001);泸州市智能制造科技创新团队资助项目(LZKJ005)。

摘　　要：针对含间隙的强非线性系统难以建立较准确数学模型的问题,以含间隙曲柄滑块机构为对象,提出了一种表述接触力的非线性弹簧阻尼模型。首先,运用Nikravesh非线性弹簧阻尼碰撞模型,对含间隙曲柄滑块机构进行了动力学建模;然后,根据逆模型理论,对其建立了含间隙的曲柄滑块机构逆模型;最后,将其与理想的曲柄滑块机构进行对比,就实际机构间隙带来的误差分别进行逆模控制和PID加逆模控制来补偿间隙引起的系统误差。理论分析及研究结果表明:运用Nikravesh非线性弹簧阻尼碰撞模型对含间隙曲柄滑块机构进行动力学建模,该法具有较高的精度,使解决问题的难度大为降低;仿真结果和实验测量结果之间的误差处于合理范围之内,经补偿后提出的逆模型误差补偿策略的精度可以提高52.1%以上;该建模方法和误差补偿策略具有较强的工程应用价值,可以作为数学建模和误差补偿的有效途径。Aiming at the problem that it was difficult to establish a comparatively accurate mathematical model for a strongly non-linear system with clearance,targeting at crank slider mechanism with clearance,a nonlinear spring damping model for expressing contact force was provided.First,the Nikraavesh nonlinear spring damping collision model was used to model the dynamics of the slider crank mechanism with clearance.Secondly,the inverse model of the slider crank mechanism with clearance was established according to the inverse model theory.Finally,the comparison with the ideal slider crank mechanism was made,the inverse mode control and PID plus inverse mode control to compensate the system error caused by the gap were carried out.The theoretical analysis and research results show that using Nikraavesh nonlinear spring damping collision model to model the crank slider mechanism with clearance has higher accuracy and greatly reduces the difficulty of solving the problem.The error between the simulation result and the experimental measurement result is within a reasonable range.After compensation,the accuracy of the proposed inverse model error compensation strategy can improve by more than 52.1%.The modeling method and error compensation strategy have strong engineering application value which can be used as the effective way of mathematical modeling and error compensation.

关 键 词：含间隙机构 曲柄滑块机构 弹簧阻尼模型 逆模型 动力学建模 误差补偿 

分 类 号：TH112.4[机械工程—机械设计及理论] TH113