面向重型机床回转工作台的双电机驱动消隙控制技术

发布时间：2018-01-03 17:04

本文关键词：面向重型机床回转工作台的双电机驱动消隙控制技术　出处：《华中科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：重型机床的回转工作台常常采用齿轮传动,使传动系统能够在低速度下输出高扭矩,但齿轮在设计、制造、装配的过程中,不可避免要引入齿轮间隙。两啮合齿轮之间的间隙,降低了伺服系统的性能和精度。如果没有采取适当的措施消除齿轮间隙,会造成系统运行不稳定;与此同时,刚性齿轮反向时会产生碰撞并伴随着剧烈的振动和噪音,这个在重型机床中尤为明显。因此,齿轮间隙补偿是高精度精密机床研究的重要组成部分。本文的主要内容有:研究了各种常用的齿轮间隙模型,分析它们的特性和使用范围,并描述了通过改进机械结构消除齿轮间隙的传统方法;重点分析了双电机驱动系统消除齿轮间隙的机械原理及其控制方法。分析了双电机驱动系统的消隙过程及其受力情况,通过数学方式推导出回转工作台的双电机驱动消隙系统的动力学模型。以双电机驱动消隙系统的动力学模型为基础,并借鉴了西门子840D数控系统的消隙控制方式,构建了双电机控制系统Simulink仿真模型,并编写了一个双电机消隙的仿真软件,通过仿真研究偏置力矩与消隙效果的关系。在某重型机床厂的回转工作台上进行了齿轮间隙影响因素的实验,在选择偏置电流初值时,可以先不考虑机床的速度与加速度值,设定偏置力矩初始值,然后可再根据现场机床实际情况进行调整。根据仿真结果和试验验证,本文的理论和方法能够满足重型回转工作台的消隙要求。
[Abstract]:The rotary table of heavy machine often adopts gear transmission system, which can output high torque at low speed, but the gear in the design, manufacture, assembly process, inevitably into the gap. The gap between the two gear meshing gear, reduce the performance and precision of servo system. If you do not take appropriate measures to eliminate gear clearance, will cause the system unstable operation; at the same time, the rigid gear will produce reverse collision and accompanied by intense vibration and noise, the heavy machine is particularly evident. Therefore, gear backlash compensation is an important part of high precision machine tools. The main contents of this paper are: the study of gear gap model a variety of commonly used, analysis and use of the scope of their characteristics, and describes the traditional methods to improve the mechanical structure for eliminating gear clearance; focus on the analysis of the dual motor drive system The system eliminates the mechanical principle of gear gap and its control method. Analysis of the backlash process of dual motor drive system and its force, by way of mathematics derived double motor rotary table drive system dynamics model to eliminate the gap. Based on the dual motor driving dynamics model to eliminate the gap system as the foundation, and the backlash control SIEMENS 840D CNC system, construction of a dual motor control system Simulink simulation model, and the preparation of a dual motor backlash simulation software, through the simulation of relationship between bias torque and backlash effect. The experimental factors influence gear clearance in the rotary table of a heavy machine factory, in the choice of the initial bias current, can not consider the speed and acceleration of the machine set value, the initial value and bias torque, can be adjusted according to the actual situation of the machine according to the simulation results. It is proved by the experiment that the theory and method of this paper can meet the clearance requirements of the heavy rotary table.

【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG502.3

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