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直线电机驱动进给轴热动态伪滞后建模与补偿方法研究

Thermal Dynamic Hysteresis Modeling and Compensation for Linear Motor Driven Feed Mechanism
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摘要 分析热动态伪滞后效应对直接进给轴驱动精度的影响,对进给轴具有的热伪动态特性进行建模和误差补偿研究。依据一维热传导和一维热膨胀理论,推导直线电机驱动进给轴热动态过程的温度分布模型和热变形误差动态模型,通过有限元分析方法和试验相结合,构建基于关键温度点的直接进给轴热伪滞后变形动态识别模型。应用激光干涉仪测量直接进给轴的热变形量,采用温度传感器和红外测温仪测量直接进给轴关键点的温度,构建进给轴动态热变形补偿系统,依据实时温度对应的热变形数据,发送热变形预测值给运动控制卡,进而向伺服控制器发送控制补偿指令,通过对直接进给轴的运动叠加控制,实现对直接进给轴的热变形补偿。在自构建的直接进给轴试验台上进行试验研究,结果表明:动态识别模型能有效的预测动态热行为,通过构建热变形补偿系统,可使直接进给轴进给精度提高75%。 The influence of thermal dynamic hysteresis effect on the direct feed axis is analyzed. The modeling and error compensation method of the thermal dynamic characteristic are proposed. First one-dimensional heat conduction and one-dimensional thermal expansion theory are applied to establish the temperature distribution model and thermal deformation dynamic model. A dynamic identification model of thermal hysteresis deformation, which is based on critical temperature points, is built for the direct feed axis with combination of finite element method and experiment test. The deformation of direct feed axis is measured by laser interferometer. The temperature of critical points on direct feed axis is measured by temperature sensors and infrared thermometers. A dynamic thermal deformation compensation system for the mechanism is constructed with a motion control system. The compensation control instruction is feed back to the servo controller according to the real-time temperature corresponding to the thermal deformation. To demonstrate the procedure of the proposed approach, an experiment was conducted on the self-construction test rig. The results show that the modeling method for the hysteresis behavior is practical and effective in the thermal deformation compensation for the feed mechanism. The driving precision of the feed axis increased 75% with the thermal deformation compensation system.
作者 林献坤 张薇 樊振华 LIN Xiankun;ZHANG Wei;FAN Zhenhua;School of Mechanical Engineering, University of Shanghai for Science and Technology
出处 《机械工程学报》 CSCD 北大核心 2018年第19期137-143,共7页 Chinese Journal of Mechanical Engineering
基金 国家自然科学基金(51005158) 国家科技重大专项(2013ZX04008-011-02)资助项目
关键词 伪滞后行为 直线电机 热变形 补偿 hysteresis behavior linear motor thermal deformation compensation
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