摘要
提出了一种基于直线电机位置闭环伺服系统的黏滑特性实验方法.该方法采用弹簧质量块的模型,与传统黏滑实验设备中的参数被等效至位置闭环伺服系统控制程序中的变量不同,可以在不改变硬件装置的条件下任意改变弹簧刚度、输入端速度等参数,方便地实现不同刚度和运动速度时摩擦副黏滑特性的测试.与传统黏滑实验方法相比,此方法具有适应性好、测量精度高、成本低等优点.利用直线电机位置闭环伺服系统,通过仿真与实验验证分析了工作台质量、弹簧刚度、动静摩擦系数差及弹簧自由端拉伸速度等因素对黏滑现象的影响,得到减小质量、增大弹簧刚度、减小动静摩擦系数差及增大拉伸速度等都可以抑制黏滑现象的结论,同时也证明了此方法的可行性.
A novel stick-slip experimental method is proposed, which is equivalent to the traditional ＂spring-mass＂ stick-slip experimental device, based on closed loop linear motor positioning system. The spring stiffness and input velocity in the traditional stick-slip experimental device now are regarded as the parameters in the equivalent linear motor servo controlling system which can be easily tuned without any hardware change. Experiments are carried out on the linear motor stage to investiga＊e the factors affecting stick slip, such as the mover mass, spring stiffness and friction coefficient. It is found that with the decrease of mass and difference of static friction and coulomb friction, or the increase of spring stiffness and input velocity, the stick-slip gets sup pressed.
出处
《西安交通大学学报》
EI
CAS
CSCD
北大核心
2011年第8期113-117,共5页
Journal of Xi'an Jiaotong University
基金
国家"973计划"资助项目(2009CB724200)
关键词
黏滑
摩擦
位置伺服系统
闭环
直线电机
stick-slip
friction
position servo system
closed loop
linear motor
