付胜华,韩秋实,王红军.高速大行程滚珠丝杠副智能测控平台的伺服控制[J].电子测量与仪器学报,2017,31(11):1821-1827
高速大行程滚珠丝杠副智能测控平台的伺服控制
Servo control of intelligent measurement and control platform for ball screw with high speed and large range
  
DOI:10.13382/j.jemi.2017.11.019
中文关键词:  滚珠丝杠测控平台  动力学模型  自适应非线性PID  遗传算法  前馈误差补偿
英文关键词:ball screw measurement and control platform  dynamic modeling  adaptive nonlinear PID  genetic algorithm  feedforward compensation
基金项目:国家自然科学基金(51575055)、科技重大专项 (2015ZX04001002)资助
作者单位
付胜华 北京信息科技大学 机电工程学院北京100192 
韩秋实 北京信息科技大学 机电工程学院北京100192 
王红军 北京信息科技大学 机电工程学院北京100192 
AuthorInstitution
Fu Shenghua School of Mechanical Engineering, Beijing Information Science & Technology University, Beijing 100192, China 
Han Qiushi School of Mechanical Engineering, Beijing Information Science & Technology University, Beijing 100192, China 
Wang Hongjun School of Mechanical Engineering, Beijing Information Science & Technology University, Beijing 100192, China 
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中文摘要:
      为了研究滚珠丝杠副的动态特性如定位精度、重复定位精度、速度及加速度跟踪、动态摩擦力矩、负载扰动、预紧力、疲劳性能、温升和机械振动等对滚珠丝杠副精度保持性能的影响,针对五轴联动加工中心高速大行程滚珠丝杠副设计了一套伺服电机+滚珠丝杠副高速运转、直线电机模拟负载扰动、多通道信号采集的智能精密测控试验平台;建立了测控平台时变参数不确定性和外力扰动的优化动力学模型;提出了基于遗传算法的自适应非线性PID双位置反馈的控制算法和速度、加速度前馈误差补偿的控制策略。试验结果表明,该控制策略具备小的跟踪误差、较强的抗干扰能力和稳定性,满足测控平台的试验需求。
英文摘要:
      In order to research the dynamic characteristics of the ball screw on the Five axis linkage machining center, such as positioning accuracy, repeated positioning accuracy, speed and acceleration tracking, dynamic friction torque, load disturbance, preload, fatigue performance, temperature rise and mechanical vibration, an intelligent precision measurement and control test platform is designed, which includes servo motor + ball screw driving, linear motor simulation load disturbance and multi channel signal acquisition. And the dynamic model of time varying parameter uncertainty and external force disturbance is described. Meanwhile, the adaptive nonlinear PID control model and feedforward error compensation based on genetic algorithm are established. The test result shows that the control strategy has a small tracking error, strong anti jamming capability and stability.
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