带摩擦补偿的滚珠丝杠副进给系统自适应滑模控制

发布时间：2018-04-12 14:36

本文选题：滚珠丝杠副 + 两自由度模型　；参考：《东南大学学报(自然科学版)》2015年03期

【摘要】：为了提高滚珠丝杠副进给系统的跟踪性能,采用了带摩擦补偿的自适应滑模控制方法.基于滚珠丝杠副进给系统轴向振动特性建立了两自由度的质量模型,根据模型的状态方程设计了系统的反演滑模控制器,考虑到外界干扰的影响设计了带自适应律的自适应滑模控制器.采用基于Stribeck摩擦模型的摩擦补偿方法和遗传算法对滚珠丝杠副进给实验台的Stribeck摩擦模型进行了参数辨识.采用建立的控制方法在实验台上进行了轨迹跟踪实验.实验结果表明:在没有使用摩擦补偿情况下自适应滑模控制器最大跟踪误差为31.85μm;使用带摩擦补偿的自适应滑模控制器,其最大跟踪误差减小为15.55μm.实验结果证明了针对滚珠丝杠副进给系统轴向振动特性模型设计的自适应滑模控制器具有较高的跟踪性能,并且采用带摩擦补偿的自适应滑模控制方法显著提高了滚珠丝杠进给系统的跟踪精度.
[Abstract]:In order to improve the tracking performance of ball screw feed system, an adaptive sliding mode control method with friction compensation is adopted.Based on the axial vibration characteristics of the ball screw pair feed system, a mass model with two degrees of freedom is established, and the inverse sliding mode controller is designed according to the state equation of the model.An adaptive sliding mode controller with adaptive law is designed considering the influence of external disturbance.The friction compensation method based on Stribeck friction model and genetic algorithm are used to identify the parameters of the Stribeck friction model of the ball screw feed test bench.The trajectory tracking experiment was carried out on the experimental bench by using the established control method.The experimental results show that the maximum tracking error of the adaptive sliding mode controller is 31.85 渭 m without friction compensation, and the maximum tracking error of the adaptive sliding mode controller with friction compensation is 15.55 渭 m.The experimental results show that the adaptive sliding mode controller designed for the axial vibration characteristic model of the ball screw pair feed system has high tracking performance.An adaptive sliding mode control method with friction compensation is used to improve the tracking accuracy of the ball screw feed system.
【作者单位】：东南大学机械工程学院;
【基金】：“十二五”国家科技重大专项资助项目(2013ZX04008011)
【分类号】：TG659

【共引文献】