摘要
滚珠丝杠进给系统是数控机床等关键工业设备的重要功能部件,为实现其精确位置控制,必须考虑滚动摩擦补偿。在考虑滚动摩擦补偿的基础上,提出了基于投影的迭代学习控制(projection-based iterative learning control,PrILC)驱动方法,以实现滚珠丝杠副的精确位置控制。该方法基于滚珠丝杠副的摩擦特性及进给系统传递函数,设计了全新的位置控制基函数,通过多次迭代学习实现滚动摩擦补偿,并利用最小二乘优化对未知参数进行估计。为验证所提出方法的有效性,进行了仿真分析和物理实验,并与标准迭代学习方法(standard iterative learning control,SILC)及未考虑摩擦补偿的PrILC方法进行了对比。结果表明:相较于SILC与未考虑滚动摩擦补偿的传统PrILC方法,所提方法的位置跟踪误差更小,且对于定位参考信号的变化具有更为优良的鲁棒性。
Ball-screw feed system is an important functional part of key industrial equipment such as CNC machine tools.In order to realize its precise position control,rolling friction compensation must be considered.Therefore,based on the consideration of rolling friction compensation,a driving method using projection-based iterative learning control(PILC)is proposed to realize the precise position control of ball-screw.Based on the friction characteristics of the ball-screw pair and the transfer function of the feed system,a new position control basis function is designed.The rolling friction compensation is realized by iterative learning,and the unknown parameters are estimated by least square optimization.Simulation analysis and physical experiments are carried out in order to verify the effectiveness of the proposed method compared with the standard iterative learning control(SILC)method and the conventional PrILC method.The results showed that,compared with SILC and PILC,the proposed method has smaller position tracking error and better robustness to the change of positioning reference signal.
作者
董彬
杨帆
潘云峰
DONG Bin;YANG Fan;PAN Yun-feng(School of Rail Transit,Nanjing Vocational Institute of Transport Technology,Nanjing 211188,China;Department of industrial automation,Guangdong Technology College,Zhaoqing 526000,China;Research Center of Machine Vision and Intelligent Inspection Engineering Technology,Guangdong Technology College,Zhaoqing 526000,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第3期120-125,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(61572142)。
