高速大行程滚珠丝杠副智能测控平台的伺服控制

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。

Servo control of intelligent measurement and control platform for ball screw with high speed and large range

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.