基于自适应补偿的差动式微进给系统研究

发布时间：2018-10-14 18:17

【摘要】：随着微电子技术、通信、航天和生物工程等学科的迅速发展,人们对精密机床的加工精度要求越来越高。其中,微进给工作台系统是精密机床加工的重要部件之一,目前已成为热点研究方向。已研制的微进给系统往往实现了单一技术指标,无法广泛应用于实际工程中。本论文对此开展的研究工作是:研制一套差动式微进给实验工作台系统,三维建模与仿真,对系统开环下误差进行检测和标定,分析采样双闭环的误差补偿方法,研究基于误差建模和差动控制的自适应补偿方法,实现误差的动态补偿。本文首先综述了国内外微进给系统研究现状,讨论了各类微进给系统特点及发展趋势,通过对目前各种大行程超精密定位系统的分析比较,根据低成本和高速度的原则,确定了运动控制卡、交流伺服电机加差动叠加数控工作台的设计方案,进行了相应的软、硬件设计,完成系统安装和调试。其次,阐述了滚珠丝杠副的特点和误差规律,分析了伺服进给系统机械特性和动、静态特性,研究了差动式微进给系统数学模型,使用Solid Works软件建立三维模型,讨论在单一摩擦因素下Adams运动仿真结果。然后,分析了系统定位误差的来源、影响因素和补偿方法,研究了采样双闭环的补偿原理,实验结果表明采样双闭环的补偿方法能够有效提高系统静态定位精度。最后,探究了误差动态补偿问题,在分析了常见的误差动态补偿方法基础上,考虑一种结合误差建模和差动控制的自适应补偿方法;采用灰色理论的误差建模方法所需统计数据少,计算量小,可以有效预测系统误差,通过软件程序控制系统差动,工作台可以在电机最佳转速范围内按照预测路径快速补偿系统误差,实现自适应补偿。通过理论研究和实验分析,基于误差建模和差动控制的自适应补偿方法,可以实现误差动态补偿,有效提高系统精度和灵敏度,该方法成本低、实用性强,无需建立复杂数学模型和补偿模型,给工程应用提供了一种有效提高精度的方法,可以在现有条件下应用不同的结构设计和合适的补偿方法满足整个系统对高精度和大行程的双重要求,并为微进给机构的设计提供了新的思路。
[Abstract]:With the rapid development of microelectronics, communication, spaceflight and bioengineering, the precision of precision machine tools is becoming more and more important. Among them, micro-feed table system is one of the important parts of precision machine tool processing, and has become a hot research direction. The developed micro-feed system often realizes a single technical index and can not be widely used in practical engineering. The research work of this thesis is as follows: develop a set of differential micro-feed experiment bench system, 3D modeling and simulation, detect and calibrate the system error under open loop, analyze the error compensation method of sampling double closed loop. The adaptive compensation method based on error modeling and differential control is studied to realize dynamic error compensation. In this paper, the current research situation of micro-feed system at home and abroad is reviewed, and the characteristics and development trend of various micro-feed systems are discussed. Through the analysis and comparison of various large-stroke ultra-precision positioning systems, according to the principle of low cost and high speed, The design scheme of the motion control card, AC servo motor plus differential superposition NC worktable is determined. The corresponding software and hardware are designed, and the system is installed and debugged. Secondly, the characteristics and error law of ball screw pair are expounded, the mechanical characteristics and dynamic and static characteristics of servo feed system are analyzed, the mathematical model of differential micro-feed system is studied, and the three-dimensional model is established by using Solid Works software. The simulation results of Adams motion under a single friction factor are discussed. Then, the source, influencing factors and compensation method of the positioning error of the system are analyzed, and the compensation principle of the sampling double closed loop is studied. The experimental results show that the compensation method of the sampling double closed loop can effectively improve the static positioning accuracy of the system. Finally, the problem of dynamic error compensation is discussed. Based on the analysis of common error dynamic compensation methods, an adaptive compensation method combining error modeling and differential control is considered. The error modeling method based on grey theory requires less statistical data and less calculation, so it can effectively predict the system error and control the system differential by software program. The table can quickly compensate the system error according to the predicted path in the range of the best speed of the motor and realize adaptive compensation. Through theoretical research and experimental analysis, the adaptive compensation method based on error modeling and differential control can realize dynamic error compensation and improve system precision and sensitivity effectively. This method has the advantages of low cost and strong practicability. There is no need to establish complex mathematical model and compensation model, which provides an effective method to improve the accuracy of engineering application. Different structural designs and appropriate compensation methods can be applied to meet the dual requirements of the whole system for high precision and large stroke under the existing conditions. It also provides a new way of thinking for the design of micro feed mechanism.
【学位授予单位】：上海工程技术大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG502.3

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