建模和数控机床的伺服系统的设计工具 毕业论文外文翻译

附录英文文献翻译MODELINGANDDESIGNOFSERVOSYSTEMOFCNCMACHINETOOLSJINXINGZHENGMINGJUNZHANGANDQINGXINMENGDEPARTMENTOFMECHANICALANDELECTRICALENGINEERINGHARBINENGINEERINGUNIVERSITYHARBIN,HEILONGJIANG,150001CHINAZHENGJINXING,NNONLINEARCHARACTERSPIDCONTROLCONTOURERRORVELOCITYGENERATIONPROFILEIINTRODUCTIONTHEFEEDSERVOSYSTEMOFMACHINETOOLSISDEFINEDASACONTROLSYSTEMWHOSEPURPOSEISTOMAKETHEPOSITIONANDTHESPEEDOFWORKTABLEFOLLOWTHECOMMANDFROMNUMERICALCONTROLUNITTHESERVOSYSTEMCOMPARESTHEREALPOSITIONSIGNALBYUSINGSENSORFEEDBACKMEASUREMENTSWITHTHEDESIREDCOMMANDINFORMATION,THENDRIVESTHEDRIVINGUNITSTOMAKETHEWORKTABLEMOVETOTHEDIRECTIONOFMINIMIZINGERRORSINORDERTOOBTAINTHEMOREACCURATEWORKPIECEINSIZESOTHEDESIGNOFSERVOCONTROLLERSISCRUCIALTOTHEHIGHPERFORMANCEOFMACHINETOOLSTHEDESIGNOFAHIGHPERFORMANCEFEEDDRIVECONTROLSYSTEMREQUIRESACCURATEKNOWLEDGEOFTHEAXISDYNAMICS12LOOKINGMORECLOSELYINTOTHEDESIGN,THOUGHMANYMODERNCONTROLDESIGNTECHNIQUESARENOWAVAILABLE,MOSTMACHINETOOLSERVODESIGNSARESTILLBASEDONTHEWELLKNOWNPIDCONTROLARCHITECTURE,ONLYCONSIDERINGMOREDELICATEFACTORSTOELIMINATETHEEFFECTOFBACKLASHANDFRICTION,ETCTHEFEEDBACKCONTROLLERSNEEDTOBEDESIGNEDTOIMPOSETHESAMECLOSEDLOOPRESPONSEONALLAXES,INORDERTOAVOIDCONTOURINGERRORSINLINEARMOTIONTHISPAPERPRESENTSAMETHODFORMODELINGTHEDYNAMICSOFFEEDDRIVESAMORECOMPREHENSIVEMATHEMATICMODELOFFEEDSERVOSYSTEMISPRESENTEDCONSIDERINGTHEDOMINANTNONLINEAREFFECTSOFFRICTIONAFRICTIONMODELISINCORPORATEDINTOTHEAXISDYNAMICSTHENATRAPEZOIDALVELOCITYPROFILEFORACCELERATIONANDDECELERATIONBASEDONVARYINGINTERPOLATIONDURATIONISCONSIDEREDDUETOTHEVISCOUSFRICTIONFORCEISPROPORTIONTOVELOCITYOFFEEDTHEREMAININGOFTHISPAPERISORGANIZEDASFOLLOWSMODELINGOFTHELINEARDYNAMICS,ASWELLASNONLINEARFRICTIONEFFECTSAREPRESENTEDINSECTIONTHISISCONTINUEDBYTRAPEZOIDALVELOCITYGENERATIONALGORITHMINSECTIONABLOCKOFPIDCONTROLSYSTEMISGIVENANDSIMULATIONSAREIMPLEMENTEDINSECTIONCONCLUSIONSAREDESCRIBEDINSECTIONIICOMPREHENSIVEMODELOFSERVOSYSTEMOFMACHINETOOLSWITHNONLINEARCHARACTERSFEEDDRIVESYSTEMSCONSISTOFSEVERALSUBSYSTEMSSUCHASPOWERTRANSMISSIONMECHANISM,ACTUATORS,SENSORS,CONTROLLERSANDAMPLIFIERSFORMTHEVIEWOFSERVOSYSTEMDESIGN,MECHANICALSUBSYSTEMSERVOMOTORDRIVESUBSYSTEMANDCONTROLLERSUBSYSTEMAREINCLUDEDACCURATEMODELSOFTHEMECHANICALANDCONTROLSUBSYSTEMAREINDISPENSABLETOPERFORMTHESYSTEMATICDESIGNSATISFACTORILYASERVOMOTORMODELTHEMOSTCOMMONMOTORSUSEDINTHEFEEDDRIVESAREDIRECTCURRENTDCMOTORSINCETHEYALLOWAWIDERANGEOFOPERATINGSPEEDSWITHTHESUFFICIENTLYLARGETORQUEDELIVERYREQUIREDBYMACHINETOOLSRECENTLY,MOSTFEEDDRIVEACTUATORSOFMACHINETOOLSAREALTERNATINGCURRENTACSERVOMOTORSBECAUSEANACMOTORMODELISCOMPLEX,THEMOTORISFREQUENTLYMODELLEDASANEQUIVALENTDCMOTORUSINGVECTORTRANSFORMATIONORROOTMEANSQUARESSOTHEFOLLOWINGMODELLINGOFSERVOMOTORISEXPLAINEDBASEDONDCSERVOMOTORSASETOFWELLKNOWNDCMOTOREQUATIONSAREWHEREVMISVOLTAGEAPPLIEDTOTHEMOTORSCIRCUIT,IAISTHEARMATURECURRENT,RMISTHEARMATURERESISTANCE,LMISTHEARMATUREINDUCTANCE,KEMFISTHEMOTORSVOLTAGEBACKEMFCONSTANTS,MISTHEANGULARVELOCITYOFMOTORTHEMAGNETICFIELDPRODUCESMOTORDYNAMICTORQUETM,WHICHISPROPORTIONALTOTHEARMATURECURRENTIAWITHTHEMOTORTORQUECONSTANTKTTHETOTALDYNAMICTORQUEDELIVEREDBYTHEMOTORISSPENTINACCELERATINGTHEINERTIAOFTHEMOTORJMANDOVERCOMINGTHEMOTORSHAFTSVISCOUSDAMPINGBM,ANDTHEEXTERNALLOADTORQUETDWHICHINCLUDESTHETORQUETODRIVETHEBALLBEARINGLEADSCREWANDTABLEASWELLASWORKPIECETL,ANDTHEDISTURBANCETORQUEDUETONONLINEARSTATICANDCOULOMBFRICTIONINTHEGUIDEWAYTFANDCUTTINGFORCESTCTHEANGULARVELOCITYOFTHEMOTORSHAFTMANDTHEARMATUREVOLTAGEVMANDTHEEXTERNALLOADTORQUETLCANBEEXPRESSEDINLAPLACEDOMAINASBLINEARMODELOFMECHANICALSUBSYSTEMOFFEEDSYSTEMINMACHINETOOLSMATHEMATICALMODELSOFTHEMECHANICALSUBSYSTEMAREGENERALLYCONSTRUCTEDBYDEVELOPINGEQUATIONSOFMOTIONBETWEENTHEMOTORANDCOMPONENTSOFTHEFEEDDRIVESYSTEMFIG1SHOWSAFREEBODYDIAGRAMOFTHEMECHANICALSUBSYSTEMINFIG1,JMISTHEINERTIAOFROTATINGELEMENTSCOMPOSEDOFTHEMOTORROTOR,COUPLINGANDBALLSCREWINERTIASMANDSAREROTATIONALANGLESOFTHEMOTORSHAFTANDTHEBALLSCREW,RESPECTIVELYTMISTHEDRIVINGTORQUEOFTHEMOTORXSANDXTARETRANSVERSEDISTANCESOFTHENUTANDTHETABLE,RESPECTIVELYANDMTISTHETABLEMASS,FDISTHEDRIVINGFORCEACTINGONTHEMECHANICALCOMPONENTRISACONVERSIONRATIOOFLINEARTOROTATIONALMOTIONKLISTHEEQUIVALENTAXIALSTIFFNESSCOMPOSEDOFTHEBALLSCREW,NUTANDSUPPORTBEARINGSTIFFNESSESKISTHEEQUIVALENTTORSIONALSTIFFNESSCOMPOSEDOFTHEBALLSCREWANDTHECOUPLINGFFISTHEFRICTIONFORCEONTHEGUIDEWAYSOFMACHINETOOLSTHEEQUIVALENTINERTIAJEQANDSTIFFNESSKEQOFTHEFEEDDRIVESYSTEMAREDESCRIBEDAS3AND4,RESPECTIVELYFROMTHEABOVEEQUATIONSANDFIG1,THEBLOCKDIAGRAMOFASERVOPHYSICALSYSTEMMODELBETWEENTHECONTROLSIGNALVCFROMCONTROLLERWHICHISUSUALLYIMPLEMENTEDBYCOMPUTERANDWORKTABLEREALPOSITIONXTISDERIVEDASFIG2WHEREKVISAGAINOFSIGNALAMPLIFIERANDPOWERAMPLIFIERTDISDISTURBANCETORQUEWHICHISCOMPOSEDOFFRICTIONFORCEONTHEGUIDEWAYSANDCUTTINGFORCEKBVISATACHOMETERGAINANDKBPISLINEARPOSITIONSENSORGAINCNONLINEARCHARACTERISTICANALYSISANDFRICTIONMODELOFFEEDSYSTEMOFMACHINETOOLSDUETOSEVERALINHERENTNONLINEARITIES,THESTICKSLIPPHENOMENAAPPEARWHENTHEMACHINETOOLSMOVEMORESLOWLYITHASSTRONGLYNONLINEARDYNAMICBEHAVIOURSINTHEVICINITYOFZEROVELOCITYTHEMAINREASONSARE1STRIBECKFRICTIONEXISTSFORTHEMETALLICSURFACESINCONTACTONTHEMACHINETOOLSLIDWAY2THEFLEXIBILITYOFTHECOUPLINGBETWEENTHESERVOMOTORANDTHEBALLSCREWMECHANISMMAKESITIMPOSSIBLETORESTRAINTHESTRIBECKFRICTION3THEBACKLASHEXISTSINTHEBALLSCREWTRANSMISSIONSINCEEFFECTSOFFRICTIONAREDOMINANTINTHENONLINEARCHARACTERS,SOMEOFTHESIGNIFICANTPOINTSOFFRICTIONARESUMMARIZEDANDAFRICTIONMODELISPRESENTEDARMSTRONGETALHAVEPRESENTEDANEXCELLENTSURVEYONTHEPHYSICSBEHINDTHEFRICTIONPHENOMENON,ASWELLASCOMPENSATIONTECHNIQUESOFDEALINGWITHITTHETYPICALFRICTIONCHARACTERISTICSFORLUBRICATEDMETALLICSURFACESINCONTACTCANBEDESCRIBEDBYTHESTRIBECKCURVE,ASSHOWNINFIG3THETYPICALFRICTIONCHARACTERISTICSFORLUBRICATEDMETALLICSURFACESINCONTACTCANBEDESCRIBEDBYTHESTRIBECKCURVETHESTRIBECKCURVECONSISTSOFFOURDIFFERENTREGIONSSTATICFRICTIONZONE,BOUNDARYLUBRICATIONZONE,PARTIALLUBRICATIONZONE,ANDFULLFLUIDLUBRICATIONZONEIFATANGENTIALFORCEISAPPLIEDTOTHESURFACES,ITWILLFIRSTWORKTOELASTICALLYDEFORMTHEASPERITYJUNCTIONSTHISPHENOMENONISREFERREDTOASPRESLIDINGDISPLACEMENTANDFRICTIONFORCEISINSTATICFRICTIONZONEIFTHETANGENTIALFORCEEXCEEDSACERTAINTHRESHOLD,REFERREDTOASMAXIMUMSTATICFRICTIONFORCE,THEJUNCTIONSWILLBREAK,CAUSINGSLIDINGTOSTARTONCETHEBREAKAWAYOCCURS,AFILMOFLUBRICANTWILLNOTBEABLETOBUILDUPBETWEENTHECONTACTSURFACESATVERYLOWVELOCITIESINTHISCASE,SLIDINGWILLOCCURBETWEENSOLIDBOUNDARYLAYERSOFLUBRICANTTHATARESTUCKTOTHEMETALSURFACESTHISREGIMEOFTHESTRIBECKCURVE,ISREFERREDTOASBOUNDARYLUBRICATIONASTHESLIDINGVELOCITYBETWEENTHETWOSURFACESINCREASES,MORELUBRICANTISDRAWNINTOTHECONTACTZONE,WHICHALLOWSALUBRICANTFILMTOBEFORMEDATTHISSTAGE,THEFILMISNOTTHICKENOUGHTOCOMPLETELYSEPARATETHETWOSURFACES,ANDTHECONTACTSATSOMEASPERITIESSTILLAFFECTTHEFRICTIONFORCETHISREGIMEISNAMEDASPARTIALFLUIDLUBRICATIONASPARTIALFLUIDLUBRICATIONINCREASES,SOLIDTOSOLIDCONTACTBETWEENTHEBOUNDARYLAYERSDECREASES,WHICHRESULTSINTHEREDUCTIONOFFRICTIONFORCEWITHINCREASINGVELOCITYPARTIALFLUIDLUBRICATIONISINHERENTLYANUNSTABLEREGIMEWITHINCREASINGVELOCITY,THELUBRICANTFILMGETSTHICKER,HENCEREDUCINGTHEFRICTIONFORCE,ANDCAUSINGTHEVELOCITYTOINCREASEFURTHERTHISREGIMEISDIFFICULTTOMODEL,ASITINVOLVESTHEINTERACTIONOFELASTOHYDRODYNAMICPHENOMENAWITHSURFACEROUGHNESSPROPERTIES45AFTERSLIDINGVELOCITYREACHESACERTAINLEVEL,ACONTINUOUSFLUIDFILMISFORMEDWHICHCOMPLETELYSEPARATESTHETWOSURFACESINTHISREGIME,REFERREDTOASFULLFLUIDLUBRICATIONTHEVISCOSITYOFTHELUBRICANTISDOMINANTONTHEFRICTIONFORCESOTHEEXPRESSIONFORFRICTIONTORQUETFMAYBEWRITTENAS,WHEREISVERYSMALLANDPOSITIVENUMBER,TAISWHATREMAINSOFTHEMOTORTORQUETMAFTERAPARTOFITHASBEENUSEDTOOVERCOMETHEEFFECTOFCUTTINGFORCESTCTSTATANDTCOULARETHESTATICFRICTIONANDTHECOULOMBFRITIONTORQUERESPECTIVELYTISCRITICALSTRIBECKVELOCITY,USUALLYASEMPIRICALCOEFFICIENT,ANDISANEXPONENT,USUALLYEQUALSTO2SINECETHEEFFECTOFVISCOUSDAMPINGISINCLUDEDINTHEAXISDYNAMICSINFIG2,THEFRICTIONTORQUEEXPRESSIONIN5NEGLECTSVISCOUSDAMPINGCOMPONENTANDTHEFRICTIONMODELISINTEGRATEDINTOTHEAXISDYNAMICSISSHOWNINFIG4INTHISCASE,ASTHEEQUATIONSOFMOTIONAREWRITTENACCORDINGTOTHEMOTORSHAFT,THEFRICTIONISCONSIDEREDTOBEAPARTOFTHEDISTURBANCETORQUEIIITRAPEZOIDALVELOCITYCOMMANDGENERATIONBASEDONVARYINGINTERPOLATIONDURATIONANINTERPOLATIONALGORITHMINWHICHREFERENCETRAJECTORIESAREGENERATEDPLAYSAKEYROLETOTHEPERFORMANCEOFTHEFEEDDRIVESYSTEMSGENERATEDTRAJECTORIESMUSTNOTONLYDESCRIBETHEDESIREDTOOLPATHACCURATELY,BUTMUSTALSOSMOOTHKINEMATICALPROFILESINORDERTOMAINTAINHIGHTRACKINGACCURACYDUETOTHEFRICTIONISRELATINGTOTHEFEEDRATEOFTHESERVOSYSTEM,WHICHISSTRONGLYINFLUENCETHEPERFORMANCEOFDESIGNINGTHECONTROLLERANDMACHINETOOLS,ANOVELVELOCITYGENERATIONBASEDONTHEVARYINGINTERPOLATIONDURATIONISPRESENTEDTHEFEEDFISPROVIDEDBYTHENCPARTPROGRAM,ANDTHEMINIMUMINTERPOLATIONPERIODTMINISSETWITHINTHECNCCONTROLSOFTWARETHEINTERPOLATIONSTEPSIZEISCALCULATEDASLFTTHESTEPSIZELISKEPTCONSTANTUNTILTMINORFMINISCHANGEDWHENTHEFEEDISCHANGEDDURINGMACHININGBYAFEEDOVERRIDESWITCHORASENSORBASEDMACHININGPROCESSCONTROLMODULE,LISKEPTCONSTANTBUTTHEINTERPOLATIONTIMETIISUPDATEDAS7ASSUMINGTHATTHETOTALDISPLACEMENTALONGANARBITRARYPATHISL,THEINTERPOLATIONTASKISEXECUTEDNTIMESATINTERPOLATIONTIMEINTERVALSOFTI,NISALWAYSROUNDEDTOTHENEXTHIGHEREVENINTEGERFORCOMPUTATIONALEFFICIENCYTHETOTALNUMBEROFITERATIONSNISDIVIDEDINTOANUMBEROFSTAGESDEPENDINGONTHETYPEOFVELOCITYPROFILEUSEDFORTRAJECTORYGENERATIONFORSIMPLICITY,ATRAPEZOIDALVELOCITYPROFILEFORACCELERATIONANDDECELERATIONISPRESENTEDINTHISPAPER,WHICHISSIMPLETOIMPLEMENT,COMPUTATIONALLYADVANTAGEOUSTHETOTALNUMBEROFINTERPOLATIONSTEPSNISDIVIDEDINTOACCELERATIONN1,CONSTANTVELOCITYN2ANDDECELERATIONN3ZONESSHOWNINFIG5,THATISIFTHE123INITIALFEEDISF0,THETOOLPATHLENGTHL1TRAVELEDDURINGTHEACCELERATIONPERIODISWHICHLEADSTOSIMILARLY,IFTHESYSTEMDECELERATESFROMFEEDFTOFE,THENUMBEROFINTERPOLATIONPERIODSDURINGDECELERATIONWHEREAISACCELERATIONANDDDECELERATIONTHECOUNTERSN,N1,N2,ANDN3AREROUNDEDINTEGERSIFTHEDESIREDFEEDISNOTREACHEDBECAUSEOFASHORTTOOLPATH,THATISN20,THENN20,N1N3N/2,ASSUMINGADSINCETHETRAVELEDTOOLPATHSEGMENTLISKEPTCONSTANT,THEFOLLOWINGEXPRESSIONCANBEWRITTENBETWEENINTERPOLATIONPERIODSBYSUBSTITUTINGTKTT,TFK/AT,FK1/A,THEIKKK11KINTERPOLATIONPERIODDURINGACCELERATIONANDDECELERATIONWHERETHEVELOCITYCHANGESISFOUNDATEACHINCREMENTASIFWETAKEATWOAXISMOTIONINTHEXANDYDIRECTIONS,THERESULTINGVELOCITIESOFTHEXANDYDRIVES,HENCE,ONCEL,INTERPOLATIONTIMETI,ANDN1,N2,ANDN3ARECALCULATED,THEVELOCITIESANDINCREMENTALPOSITIONSINTHEXANDYDRIVESAREAUTOMATICALLYDEFINEDBYTHEALGORITHMIVSIMULATIONANDRESULTSANALYSISTHEREAREASIGNIFICANTNUMBEROFCONTROLLAWSTOBEIMPLEMENTEDINCNCSERVOSYSTEMTYPICALLY,PIDCONTROLLERSAREUSEDTOCOMPENSATEFORSTEADYERRORANDDISTURBANCESSUCHASEXTERNALLOADSANDFRICTIONFORCESANDINORDERTOWIDENTHEAXISTRACKINGBANDWIDTH,ASIMPLEFEEDFORWARDFRICTIONMETHODISAPPLIEDTOPREVENTFROMDEGRADINGTHETRACKINGANDCONTOURINGPERFORMANCETHEPARAMETERSINTHEFEEDFORWARDCOMPENSATORAREFROMTHEEXPERIMENTALKNOWLEDGETHEPARAMETERSOFONEAXISINMACHINETOOLSAREIDENTIFIEDANDLISTINTABLEAREFERENCECIRCLETOOLPATHSISUSEDINCONTOURMACHININGSIMULATIONTESTS7THECOMMANDSOFPOSITIONANDVELOCITYOFEACHAXISAREGENERATEDINCNCUNITSBASEDONTHETRAPEZOIDALVELOCITYCONTROLALGORITHMPRESENTEDHERETHECONTOURPROFILEISGENERATEDBYUSINGTRAPEZOIDALVELOCITYALGORITHMANDTHEDESIREDCIRCLESHOWNINFIG6THEGENERATINGVELOCITYPROFILESARESHOWNINFIG7THEACTUALEACHAXISPOSITIONANDVELOCITYARESHOWNINFIGS811THEPERFORMANCEOFCLASSICALPIDCONTROLLERADDINGTHEFEEDFORWARDFRICTIONCOMPENSATIONBASEDONTHECOMPREHENSIVESERVOAXISDYNAMICALMODELANDFRICTIONMODELISILLUSTRATEDINTHESEFIGURESTHEACTUALCONTOURTOOLPATHSCOMPAREDWITHTHEDESIREDTOWPATHSISSHOWNINFIG12THEDASHTHICKCURVEISACTUALCONTOURUNDERTHEPIDCONTROLLER,ANDTHESOLIDTHINCURVEISDESIREDCONTOURTHEREARESTILLCONTOURERRORSDUETOTHESIMPLEFRICTIONCOMPENSATORTHEINTELLIGENTMETHODTUNINGTHEPARAMETERSOFPIDANDMORECOMPLICATEDFRICTIONMODELWILLHELPIMPROVETHETRACKINGANDCONTOURACCURACYVCONCLUSIONTHISPAPERHASPRESENTEDTHEDETAILMODELINGPROCESSOFSERVODRIVESYSTEMOFCNCMACHINETOOLSADYNAMICSERVOMODELHASBEENCOMBINEDWITHAFRICTIONMODELANDTHENOVELVELOCITYCONTROLALGORITHMHASBEENPRESENTEDANDIMPLANTEDBASEDONTHEVARYINGPERIODSASERIALOFSIMULATIONSVERIFIEDTHEHIGHPERFORMANCEOFPIDCONTROLLERBASEDONTHECOMPREHENSIVEMODELANDREASONABLEFRICTIONCOMPENSATIONREFERENCES1YKOREN,COMPUTERCONTROLOFMANUFACTURINGSYSTEMS,MCGRAWHILL,NEWYORK,19832ATELFIZY,ETAL,“MODELBASEDCONTROLLERDESIGNFORMACHINETOOLDIRECTFEEDDRIVE,”INTERNATIONALJOURNALOFMACHINETOOLSANDMANUFACTURING,VOL41,2001,PP163716583MINSEOKKIM,SUNGCHONGCHUNG,“ASYSTEMATICAPPROACHTODESIGNHIGHPERFORMANCEFEEDDRIVESYSTEMS,”INTERNATIONALJOURNALOFMACHINETOOLSANDMANUFACTURING,VOL45,2005,PP142114354KANNERKORKMAZ,YUSUFALTINTAS,“HIGHSPEEDCNCSYSTEMDESIGHPART,”INTERNATIONALJOURNALOFMACHINETOOLSANDMANUFACTURING,VOL41,2001,PP148715095KANNERKORKMAZ,YUSUFALTINTAS,“HIGHSPEEDCNCSYSTEMDESIGHPART,”INTERNATIONALJOURNALOFMACHINETOOLSANDMANUFACTURING,VOL41,2001,PP163716586YALTINTAS,MANUFACTURINGAUTOMATIONMETALCUTTINGMECHANICS,MACHINETOOLVIBRATIONS,ANDCNCDESIGN,CAMBRIDGEUNIVERSITYPRESS,CAMBRIDGE,2000ND7LIUJINKUN,ADVANCEDPIDCONTROLANDMATLABSIMULATION,2ED,PUBLISHINGHOUSEOFELECTRONICSINDUSTRY,BEIJING,20042006年IEEE的程序在机电工程与自动化国际会议6月25日200628，中国洛阳建模和数控机床的伺服系统的设计工具郑金星张明君萌清新机电工程系哈尔滨工程大学黑龙江省哈尔滨市，150001中国ZHENGJINXING，与ZHANGMINGJUNMENGQINGXINHRBEUEDUCN摘要在进给驱动“动态精确建模是在设计一个高性能数控系统的关键一步。本文提出的数控进给的综合动态模型驱动系统，建立了摩擦模型分析机床运动的非线性字符，和梯形速度控制算法，呈现出摩擦速度的依赖。验证控制器，跟踪和轮廓模拟得到实施。关键词伺服系统建模NNONLINEAR字符PID控制轮廓误差速度生成配置文件第一章引言机床的进给伺服系统被定义为一个控制系统，其目的是使该位置与工作台速度从数值按照命令控制单元。伺服系统比较实际位置通过使用传感器反馈的测量与期望的信号命令的信息，然后驱动所述驱动单元以使工作台移动到最大限度地减少错误的方向订购的尺寸，以获得更准确的工件。所以，伺服控制器的设计是非常重要的高性能机床。高性能进给驱动器的设计控制系统需要轴线准确的知识动态12。在寻找更紧密地融入设计中，尽管许多现代控制设计技术现已有售，最机床的伺服设计仍然是基于对知PID控制架构，只考虑更细腻因素来消除齿隙和摩擦等的影响反馈控制器需要被设计为在施加对所有的轴相同的闭环回路响应，以避免在轮廓直线运动的错误。本文提出了建模动态的方法的进给驱动。一个更全面的数学模型进给伺服系统，提出考虑的主导摩擦的非线性效应。摩擦模型结合成轴的动力。然后一对梯形速度曲线根据不同的插值加速和减速持续时间被认为是由于粘性摩擦力比例为饲料的速度。其余本文是安排如下线性动力学建模，以及作为非线性摩擦影响列于第。这是继续在梯形速度生成算法节。第二章伺服系统的综合预测模型进给驱动系统由几个子系统组成，如动力传动机构，传动器，传感器，控制器和放大器。构成伺服系统设计的视图机械子系统伺服电机驱动子系统和控制器子系统均包括在内。的精确模型机械和控制子系统是不可或缺的圆满完成了系统设计。21伺服电机M在进给驱动装置中最常用的电动机是直流（DC）电机，因为它们允许范围广泛的运行速度与足够大的扭矩传递由机床所需。最近，大部分进给驱动执行器机的工具是交流电（AC）伺服电机。由于交流电机的模型是复杂的，电机经常建模为一个等效直流电动机采用矢量改造或根均方。所以下面伺服电机的建模是基于直流伺服解释电机。一组著名的直流电动机方程为其中VM为施加到电动机的电路电压，1A是对电枢电流，RM为电枢电阻，LM是电枢电感，KEMF是电机的电压的反电动势常数，M是角速度电机。磁场产生电机动态转矩TM，这是成正比到电枢电流IA的电机转矩常数KT。由电机交付的总动态扭矩都花在了加快电机（JM）的惯性，克服电动机轴的粘性阻尼（BM），和外部负载扭矩TD其中包括驱动球轴承的转矩丝杠和表以及工件（TL），以及由于非线性静力和库仑扰动力矩摩擦的导轨（TF）和切削力（TC）。角速度的电机轴M和的电枢电压VM和外部负载转矩TL可以表现在拉普拉斯域22进给系统的机械子系统的线性模型机床机械子系统的数学模型一般建造，开发的运动方程电机和进给驱动系统的部件之间出了机械子系统的FREEBODY图。在图1，JM是旋转的组成元件的惯性电机转子，联轴器和滚珠丝杠的惯量。M和S是电机轴和滚珠丝杠的旋转角度，TM是电动机的驱动转矩。XS和XT都横向距离上的螺母，表中MT是表质量的FD是作用在驱动力机械部件。R是直链对转化率旋转运动。KL是由等效轴向刚度。K是等效扭转刚度由滚珠丝杠和的耦合。FF是对的导轨的摩擦力机床。图一进给驱动系统的物理组件图进给驱动器的等效惯量JEQ和刚度KEQ系统被描述为（3）和（4），分别为从上面的等式和图1中，A的框图控制信号VC之间的伺服系统的物理模型从控制器，它是由计算机通常被实现并工作台的实际位置XT推导图2。凡KV值是增益信号放大器和功率放大器。TD是干扰，它是由摩擦力对导轨的力矩和切削力。KBV是一个测速发电机增益和KBP是线性的位置传感器的增益。图二进给驱动器的物理系统模型框图23非线性特性分析和摩擦模型机床进给系统如果一个切向力施加到表面上，其将第一工作，以弹性变形的凹凸结。这现象被称为PRESLIDING位移和摩擦力是在静摩擦区。如果切向力超过一定阈值时，称为最大静摩擦力，该路口将打破，导致滑动启动。一旦脱离发生时，润滑膜将不能在非常低的速度接触表面之间建立起来的。在这种情况下，滑动将固体边界层之间发生润滑剂的被粘在金属表面上。这个政权的斯特里贝克曲线，被称为边界润滑。如两个表面之间的滑动速度增大，更润滑剂被吸入到接触区，它允许将要形成的润滑膜。在这个阶段，电影是不厚足以完全分开的两个表面上，并且在一些粗糙的接触仍影响摩擦力。这政权被命名为局部流体润滑。由于部分流体润滑的增加，固体之间的固体接触边界层减少，这导致减少摩擦力随着速度。部分流体润滑本质上是不稳定的政权随着速度的增加，在润滑剂膜变厚，因此，降低了摩擦力，以及使所述速度进一步增加。后滑动速度达到一定程度时，连续流体膜形成其完全分离的两个曲面。在这种制度下，被称为全流体润滑，所述润滑剂的粘度为主导的摩擦力。因此，对于摩擦转矩TF的表达可被写为TA为剩下电机的转矩TM的是它的一部分后已被用于克服切削力锝的效果。TSTAT和TCOUL是静摩擦力和库仑FRITION扭矩，T是至关重要的STRIBECK速度，通常AS经验系数，并且是一个指数，通常等于2，粘性阻尼的SINECE的效果包括在轴动力学图。在摩擦转矩表达式（5）忽略粘性阻尼元件。摩擦模型集成到轴动力学显示在图4，在这种情况下，如方程运动是按照电动机轴写入时，摩擦认为是扰动转矩的一部分。图三滑动速度和摩擦力在接触面的润滑关系图四整合摩擦模型为进给轴动态第三章梯形速度命令生成基于变插值期限一个插值算法参考轨迹生成起着关键的作用，以进料的性能驱动系统。生成的轨迹不仅要描述所需的刀具路径准确，但也必须顺利为了保持较高的跟踪运动学型材精度。由于摩擦力有关的进给速度伺服系统，它是强烈影响的性能设计的控制器和机床，一种新颖的速度的基础上，不同的时间插值生成是呈现。进给F由NC零件程序提供，而最小插补周期TMIN设置数控内控制软件，插补步长的计算公式为LFT。步长L为保持不变，直到三甲基铟或F分被改变。当饲料加工过程中被改变馈补偿开关或传感器为基础的加工过程控制模块，L保持恒定，但内插时间钛更新为7。假设沿任意路径的总位移是L，内插任务被执行了N次的插值时间间隔的TI，N总是四舍五入到下一个更高的偶数为计算效率。迭代的总数目（N）是分成若干取决于类型的阶段，用于轨迹生成速度曲线。为简单起见，加速和减速梯形速度曲线是在本文中，这实现起来很简单呈现，计算有利。插值步骤，（N）的总数被分成加速度（N1），恒定速度（N2）和减速（N3）如图五所示。如果初始进料为F0时，刀具路径长度（L1）