基于机电-刚柔混合的H型双驱进给系统状态相关动态特性分析

动态特性是影响H型双驱进给系统定位精度的关键因素。基于重心驱动原理的H型双驱进给系统在位置状态变化时无法保证双轴驱动力合力通过运动件重心造成系统产生动态误差，从而导致H型双驱进给系统的定位精度提升依然存在困难。从H型双驱进给系统的结构特性分析出发，考虑H型横梁和移动部件位置状态对系统动力学参数的影响，建立了H型双驱进给系统刚柔耦合动力学模型。结合伺服电机控制模型，采用状态空间方法得到H型双驱进给系统的机电-刚柔混合模型。利用模态实验验证所建立的动力学模型的正确性。通过数值仿真分析了系统对阶跃信号、S型信号和斜坡信号的响应特性，得到了H型横梁和移动部件位置状态、进给速度状态和同步控制策略对H型双驱进给系统的动态误差、跟踪误差和同步误差大小的影响规律。所建立的机电-刚柔混合模型能够有效地揭示H型双驱进给系统状态相关参数对系统定位精度的影响，可为H型双驱进给系统同步控制和误差补偿研究奠定理论基础。

Research on State-dependent Dynamic Characteristics of H-type Dual Drive Feed System Based on Electro-mechanical and Rigid-flexible Coupling

Dynamic characteristic is the key factor affecting the positioning accuracy of H-type dual drive feed system (HTDDFS). When the position states change, the HTDDFS, based on the drive center at gravity (DCG) principle, cannot guarantee that the resultant force of the dual axis driving forces can pass through the center of gravity of the moving frame, resulting in the dynamic error of the system, so it is still difficult to improve the positioning accuracy of the HTDDFS. Based on the analysis of the structural characteristics of the HTDDFS, the influence of position states of H-type crossbeam and spindle moving parts on the dynamic parameters of the system are considered, and then the rigid flexible coupling dynamic model of the HTDDFS is established. Combined with the control model of the servo motor, the electro-mechanical and rigid-flexible hybrid model of the HTDDFS is obtained by using the state space method. The correctness of the established dynamic model is verified by modal experiment. Through numerical simulation, the response characteristics of the system to step signal, S-shaped signal and slope signal are analyzed, and the influence of position states, feedrate states and synchronization control strategies on the dynamic error, tracking error and synchronization error of the HTDDFS are obtained. The electro-mechanical rigid-flexible hybrid model can effectively reveal the influence of state-dependent parameters of the HTDDFS on the positioning accuracy of the system, and lay a theoretical foundation for the research of synchronous control and error compensation of the HTDDFS.