CN103942368A - Structure design method for laser cutting machine tool - Google Patents
Structure design method for laser cutting machine tool Download PDFInfo
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- CN103942368A CN103942368A CN201410128590.6A CN201410128590A CN103942368A CN 103942368 A CN103942368 A CN 103942368A CN 201410128590 A CN201410128590 A CN 201410128590A CN 103942368 A CN103942368 A CN 103942368A
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Abstract
The invention discloses a structure design method for a laser cutting machine tool. The machine tool comprises a cutting head and multiple structural members. The method comprises the steps that according to the design scheme of the machine tool, the structure members are marked and defined in sequence from the position of the cutting head; multiple modal analysis finite element models are established by increasing the structural members one by one, and the modal frequency value fn1 swung in the X-direction of the cutting head and the modal frequency value fn2 swung in the Y-direction of the cutting head of each modal analysis finite element model are obtained through finite element analysis and calculation; a declining rate vn1 and a declining rate vn2 are calculated respectively according to a formula, and the intensity of the performance of each structural member and the intensity of each structure member in the X-direction and in the Y-direction are judged according to the declining rate vn1 and the declining rate vn2; the structural members with weak performance and weak directions of the structural members are improved respectively. Due to the fact that the structural members with weak performance and weak directions in the structural members are found out in the stage of designing the laser cutting machine tool to serve as bases form improving the structural members, the dynamic performance of the complete machine can be improved.
Description
Technical field
The present invention relates to laser process machine design field, relate in particular to a kind of construction design method of laser cutting machine tool.
Background technology
High speed and super precision lathe ensures that the very important factor of machining precision is the dynamic property of mechanism in high-speed cruising process.In high speed laser cutting machine tool bed structure, the dynamic property of physical construction directly affects cutting accuracy.Under the effect of certain dynamic force, the dynamic property of physical construction is better, and its vibration resistance is better, and the amplitude of generation is less, and machining precision is higher.
In three-dimensional five axle laser cutting machine bed structures, its large structure as cutting head connecting rod, crossbeam, the isostructural dynamic property of lathe bed be conclusive to the dynamic property of complete machine.Therefore large part structure being carried out to reasonably optimizing design, is necessary.
Utilizing at present finite element simulation and method for testing vibration to carry out separately mode, statics Analysis and optimization to each large structure is routine and effective method.But separately each structural member is carried out analysis and modification and usually can only be improved the performance of single structure part, and the performance of complete machine is uncertain.When consider just to relate to while improvement " coupling mutually " problem of each structural member from complete machine, find out the structure link of poor-performing and the weakness of structure, strengthen targetedly, improve the performance of complete machine.
Summary of the invention
The technical problem to be solved in the present invention is, cannot improve the defect of overall performance for prior art, and a kind of construction design method of the laser cutting machine tool that improves overall performance is provided.
The technical solution adopted for the present invention to solve the technical problems is: a kind of construction design method of laser cutting machine tool is provided, and described lathe comprises cutting head and multiple structural member, supposes that multiple structural members are respectively structural member P
1, structural member P
2structural member P
n, wherein, n>=2; Said method comprising the steps of:
Step a. is according to the design proposal of described lathe, and described multiple structural members are from beginning label and the definition in order of described cutting head, putative structure part P
1for the structural member directly connecting firmly with described cutting head, structure P
nfor the structural member directly connecting firmly with ground;
Step b. increases one by one structural member and sets up multiple model analysis finite element models, and obtains according to finite element analysis computation the model frequency value f that each model analysis finite element model swings at described cutting head directions X
n1and the model frequency value f swinging in described cutting head Y-direction
n2, suppose that multiple model analysis finite element models are respectively model analysis finite element model M
1, model analysis finite element model M
2model analysis finite element model M
n;
Step c calculates respectively according to following formula 1 and formula 2 the model frequency value f swinging at described cutting head directions X
n1corresponding lapse rate v
n1and the model frequency value f swinging in described cutting head Y-direction
n2corresponding lapse rate v
n2, wherein,
Formula 1:v
n1=(f
(n-1) 1-f
n1)/f
(n-1) 1,
Formula 2:v
n2=(f
(n-1) 2-f
n2)/f
(n-1) 2;
Steps d. according to lapse rate v
n1with lapse rate v
n2judge that strong and weak and each structural member of each structural member performance is in the power of described cutting head directions X and Y-direction;
Step e. improves weak direction in the weak structural member of performance and structural member respectively.
In the construction design method of laser cutting machine tool of the present invention, n=4.
In the construction design method of laser cutting machine tool of the present invention, structural member P
1for connecting rod, structural member P
2for slide, structural member P
3for crossbeam, structural member P
4for lathe bed.
In the construction design method of laser cutting machine tool of the present invention, in step b, set up the model analysis finite element model M of cutting head and connecting rod assembly
1specifically comprise the following steps:
Step b10. will import in finite element analysis software after the three-dimensional entity model conversion of connecting rod, and definition material parameter;
Step b11. connecting rod is with entity form modeling, and cutting head is with quality point modeling;
Between step b12. cutting head and connecting rod, set up and be rigidly connected;
Step b13. defines the fixed boundary condition of connecting rod on the fitting surface of connecting rod and slide;
Step b14. obtains model analysis finite element model M according to finite element analysis computation
1the frequency values f swinging at cutting head directions X
11and the frequency values f swinging in cutting head Y-direction
12.
In the construction design method of laser cutting machine tool of the present invention, in step b, at model analysis finite element model M
1basis on set up the model analysis finite element model M of cutting head, connecting rod and slide assembly
2specifically comprise the following steps:
Step b20. will import in finite element analysis software after the three-dimensional entity model conversion of slide, and definition material parameter;
Step b21. slide is with entity form modeling;
Step b22. sets up and is rigidly connected between connecting rod and slide;
Step b23. defines the fixed boundary condition of slide on the fitting surface of slide and crossbeam, cancels the fixed boundary condition of connecting rod in above-mentioned steps b13;
Step b24. obtains model analysis finite element model M according to finite element analysis computation
2the frequency values f swinging at cutting head directions X
21and the frequency values f swinging in cutting head Y-direction
22.
In the construction design method of laser cutting machine tool of the present invention, in step b, at model analysis finite element model M
2basis on set up the model analysis finite element model M of cutting head, connecting rod, slide and crossbeam assembly
3specifically comprise the following steps:
Step b30. will import in finite element analysis software after the three-dimensional entity model conversion of crossbeam, and definition material parameter;
Step b31. crossbeam is with entity form modeling;
Step b32. sets up and is rigidly connected between slide and crossbeam;
Step b33. defines the fixed boundary condition of crossbeam on the fitting surface of crossbeam and lathe bed, cancels the fixed boundary condition of slide in above-mentioned steps b23;
Step b34. obtains model analysis finite element model M according to finite element analysis computation
3the frequency values f swinging at cutting head directions X
31and the frequency values f swinging in cutting head Y-direction
32.
In the construction design method of laser cutting machine tool of the present invention, in step b, at model analysis finite element model M
3basis on set up the model analysis finite element model M of cutting head, connecting rod, slide, crossbeam and lathe bed assembly
4specifically comprise the following steps:
Step b40. will import in finite element analysis software after the three-dimensional entity model conversion of lathe bed, and definition material parameter;
Step b41. lathe bed is with entity form modeling;
Step b42. sets up and is rigidly connected between crossbeam and lathe bed;
Step b43., at the fixed boundary condition of lathe bed and fixed connection place, ground definition lathe bed, cancels the fixed boundary condition of above-mentioned steps b33 middle cross beam;
Step b44. obtains model analysis finite element model M according to finite element analysis computation
4the frequency values f swinging at cutting head directions X
41and the frequency values f swinging in cutting head Y-direction
42.
In the construction design method of laser cutting machine tool of the present invention, described cutting head is installed on connecting rod bottom.
In the construction design method of laser cutting machine tool of the present invention, described method also comprises utilizes topological optimization and/or dimensionally-optimised method to improve multiple structural members.
In the construction design method of laser cutting machine tool of the present invention, the scope of the excitation frequency value of described laser cutting machine tool is [1,50Hz].
Implement technical scheme of the present invention, concrete following beneficial effect: by finding out weakness direction in performance weak structural member and structural member in the design laser cutting machine tool stage as the criterion of improving structural member, thereby can reach the dynamic property of raising complete machine.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the process flow diagram of the construction design method of laser cutting machine tool of the present invention;
Fig. 2 is the structural representation of laser cutting machine tool of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
It should be noted that laser cutting machine tool comprises cutting head and multiple structural member, in the present embodiment, suppose that multiple structural members are respectively structural member P
1, structural member P
2structural member P
n, wherein, n>=2; Refer to Fig. 1, Fig. 1 is the process flow diagram of the construction design method of laser cutting machine tool of the present invention, said method comprising the steps of:
In step a, according to the design proposal of described lathe, described multiple structural members are from beginning label and the definition in order of described cutting head, in the present embodiment, and putative structure part P
1for the structural member directly connecting firmly with described cutting head, structure P
nfor the structural member directly connecting firmly with ground.It should be noted that structural member P
1almost determine the performance level of the whole driving-chain of lathe; Even structural member P
1poor-performing, no matter structural member P
2～structural member P
nperformance how highly have, also cannot improve the performance of cutting head output terminal, so user will pay close attention to structural member P
1performance.
In step b, increase one by one structural member and set up multiple model analysis finite element models, and obtain according to finite element analysis computation the model frequency value f that each model analysis finite element model swings at described cutting head directions X
n1and the model frequency value f swinging in described cutting head Y-direction
n2, suppose that multiple model analysis finite element models are respectively model analysis finite element model M
1, model analysis finite element model M
2model analysis finite element model M
n, it should be noted that wherein n>=2, model analysis finite element model M
1, model analysis finite element model M
2model analysis finite element model M
nbe and structural member P
1, structural member P
2and structural member P
none to one, in the present embodiment, the scope of the excitation frequency value of laser cutting machine tool is [1,50Hz], it should be explained that model analysis finite element model M
1the model frequency value swinging at cutting head directions X is designated as f
11, the model frequency value swinging in cutting head Y-direction is designated as f
12; If f
11and f
12all in the scope of excitation frequency value, can think structural member P
1poor-performing, need structural member P
1improve model analysis finite element model M
2the model frequency value swinging at cutting head directions X is designated as f
21, the model frequency value swinging in cutting head Y-direction is designated as f
22if, f
21and f
22all in the scope of excitation frequency value, can think structural member P
2poor-performing, need structural member P
2improve, by that analogy, repeat no more.
Here need to explain the concept of finite element analysis, finite element analysis is to utilize the method for mathematical approach to simulate actual physical system (how much and load working condition).Also utilize simple and interactional element, i.e. unit, just can remove to approach with the unknown quantity of limited quantity the real system of unlimited unknown quantity.That is to say, finite element analysis is to solve after replacing challenge by better simply problem again.It is regarded as by many little interconnection subdomains that are called finite element and forms solving territory, to suitable (better simply) approximate solution of each unit supposition, then total the satisfying condition in this territory of Derivation (as the equilibrium condition of structure), thus the solution of problem obtained.This solution is not Exact Solutions, but approximate solution, because practical problems is replaced by better simply problem.Because most of practical problemss are difficult to obtain Exact Solutions, and finite element not only computational accuracy is high, and can adapt to various complicated shapes, thereby become effective engineering analysis means.Those skilled in the art should understand, and this is no longer going to repeat them.
In step c, calculate respectively according to following formula 1 and formula 2 the model frequency value f swinging at described cutting head directions X
n1corresponding lapse rate v
n1and the model frequency value f swinging in described cutting head Y-direction
n2corresponding lapse rate v
n2, that is to say lapse rate v
n1with lapse rate v
n2represent respectively f
n1and f
n2the degree of successively decreasing, wherein,
Formula 1:v
n1=(f
(n-1) 1-f
n1)/f
(n-1) 1,
Formula 2:v
n2=(f
(n-1) 2-f
n2)/f
(n-1) 2; Wherein, n>=2.
In steps d, according to lapse rate v
n1with lapse rate v
n2judge that strong and weak and each structural member of each structural member performance is in the power of described cutting head directions X and Y-direction.In the present embodiment, compare each v
n1size, v
n1illustrate that n structural member is larger in " weakening " of the performance of directions X to cutting head greatlyr; Otherwise, v
n1littlely illustrate that n structural member is less in " weakening " of the performance of directions X to cutting head; Relatively each v
n2size, v
n2illustrate that n structural member is larger in " weakening " of the performance of Y-direction to cutting head greatlyr; Otherwise, v
n2littlely illustrate that n structural member is less in " weakening " of the performance of Y-direction to cutting head, like this, can draw structural member that cutting head X, Y-direction performance " weakening " impact are larger and the weakness direction of this structural member.
In step e, respectively weak direction in the weak structural member of performance and structural member is improved.In the present embodiment, mainly utilize topological optimization or parameter optimization method to improve direction weak in this structural member and structural member.
Set forth such scheme with a concrete example below, preferably, n=4, in the present embodiment, incorporated by reference to consulting Fig. 2, Fig. 2 is the structural representation of laser cutting machine tool of the present invention, as shown in Figure 2, structural member P
1for connecting rod 2, structural member P
2for slide 3, structural member P
3for crossbeam 4, structural member P
4for lathe bed 5.Described cutting head 1 is installed on connecting rod 2 bottoms.
In step b, set up the model analysis finite element model M of cutting head and connecting rod assembly
1specifically comprise the following steps:
Step b10. will import in finite element analysis software after the three-dimensional entity model conversion of connecting rod, and definition material parameter.
Step b11. connecting rod is with entity form modeling, and cutting head is with quality point modeling.
Between step b12. cutting head and connecting rod, set up and be rigidly connected.
Step b13. defines the fixed boundary condition of connecting rod on the fitting surface of connecting rod and slide.
Step b14. obtains model analysis finite element model M according to finite element analysis computation
1the frequency values f swinging at cutting head directions X
11and the frequency values f swinging in cutting head Y-direction
12.
In step b, at model analysis finite element model M
1basis on set up the model analysis finite element model M of cutting head, connecting rod and slide assembly
2specifically comprise the following steps:
Step b20. will import in finite element analysis software after the three-dimensional entity model conversion of slide, and definition material parameter;
Step b21. slide is with entity form modeling.
Step b22. sets up and is rigidly connected between connecting rod and slide.
Step b23. defines the fixed boundary condition of slide on the fitting surface of slide and crossbeam, cancels the fixed boundary condition of connecting rod in above-mentioned steps b13.
Step b24. obtains model analysis finite element model M according to finite element analysis computation
2the frequency values f swinging at cutting head directions X
21and the frequency values f swinging in cutting head Y-direction
22.
In step b, at model analysis finite element model M
2basis on set up the model analysis finite element model M of cutting head, connecting rod, slide and crossbeam assembly
3specifically comprise the following steps:
Step b30. will import in finite element analysis software after the three-dimensional entity model conversion of crossbeam, and definition material parameter.
Step b31. crossbeam is with entity form modeling.
Step b32. sets up and is rigidly connected between slide and crossbeam.
Step b33. defines the fixed boundary condition of crossbeam on the fitting surface of crossbeam and lathe bed, cancels the fixed boundary condition of slide in above-mentioned steps b23.
Step b34. obtains model analysis finite element model M according to finite element analysis computation
3the frequency values f swinging at cutting head directions X
31and the frequency values f swinging in cutting head Y-direction
32.
In step b, at model analysis finite element model M
3basis on set up the model analysis finite element model M of cutting head, connecting rod, slide, crossbeam and lathe bed assembly
4specifically comprise the following steps:
Step b40. will import in finite element analysis software after the three-dimensional entity model conversion of lathe bed, and definition material parameter;
Step b41. lathe bed is with entity form modeling.
Step b42. sets up and is rigidly connected between crossbeam and lathe bed.
Step b43., at the fixed boundary condition of lathe bed and fixed connection place, ground definition lathe bed, cancels the fixed boundary condition of above-mentioned steps b33 middle cross beam.
Step b44. obtains model analysis finite element model M according to finite element analysis computation
4the frequency values f swinging at cutting head directions X
41and the frequency values f swinging in cutting head Y-direction
42.
The scope of supposing the excitation frequency value of laser cutting machine tool is [1,50Hz], connecting rod 2, slide 3, crossbeam 4 and lathe bed 5 these four the corresponding model analysis finite element model of structural member M
1, model analysis finite element model M
2, model analysis finite element model M
3with model analysis finite element model M
4the frequency values f swinging at cutting head directions X respectively
11, f
21, f
31and f
41; And lapse rate v
21, v
31and v
41, as shown in table 1, in addition, connecting rod 2, slide 3, crossbeam 4 and lathe bed 5 these four the corresponding model analysis finite element model of structural member M
1, model analysis finite element model M
2, model analysis finite element model M
3with model analysis finite element model M
4the frequency values f swinging at cutting head directions X respectively
12, f
22, f
32and f
42; And lapse rate v
22, v
32and v
42, as shown in table 2.
Table 1
Table 2
The excitation frequency of laser cutting machine tool generally, in the scope of 1～50Hz, from table 1 and table 2, can obtain f
11=44.050Hz, f
12=48.549Hz, within just in time dropping on this scope, therefore can judge that the performance of connecting rod can not meet the demands, and should improve the performance of connecting rod directions X, Y-direction.
From table 1 and table 2, by v
21=18.0%, v
22=19.9%, can judge that slide is all larger in the weakening of directions X, Y-direction performance to cutting head; Should improve the performance of directions X, Y-direction.
From table 1 and table 2, by v
31=20.5%, v
32=8.7%, can judge that crossbeam is larger in the weakening of directions X performance to cutting head; And the weakening of Y-direction performance is less; When improvement, answer emphasis to improve its performance at directions X.
From table 1 and table 2, by v
41=14.5%, v
42=22.0%, can decision structure P
4be that lathe bed structure is larger in the weakening of Y-direction performance to cutting head; And the weakening of directions X performance is less; Answer emphasis to improve its performance in Y-direction.
In the present embodiment, conclusions, as the improved criterion of structural member, improves structural member targetedly; When improving, structural member can rule of thumb or adopt the methods such as topological, dimensionally-optimised; After so improving, the performance of complete machine is improved.
Compared to prior art, by finding out weakness direction in performance weak structural member and structural member in the design laser cutting machine tool stage as the criterion of improving structural member, thereby can reach the dynamic property that improves complete machine.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in claim scope of the present invention.
Claims (10)
1. a construction design method for laser cutting machine tool, is characterized in that, described lathe comprises cutting head and multiple structural member, supposes that multiple structural members are respectively structural member P
1, structural member P
2structural member P
n, wherein, n>=2; Said method comprising the steps of:
Step a. is according to the design proposal of described lathe, and described multiple structural members are from beginning label and the definition in order of described cutting head, putative structure part P
1for the structural member directly connecting firmly with described cutting head, structure P
nfor the structural member directly connecting firmly with ground;
Step b. increases one by one structural member and sets up multiple model analysis finite element models, and obtains according to finite element analysis computation the model frequency value f that each model analysis finite element model swings at described cutting head directions X
n1and the model frequency value f swinging in described cutting head Y-direction
n2, suppose that multiple model analysis finite element models are respectively model analysis finite element model M
1, model analysis finite element model M
2model analysis finite element model M
n;
Step c calculates respectively according to following formula 1 and formula 2 the model frequency value f swinging at described cutting head directions X
n1corresponding lapse rate v
n1and the model frequency value f swinging in described cutting head Y-direction
n2corresponding lapse rate v
n2, wherein,
Formula 1:v
n1=(f
(n-1) 1-f
n1)/f
(n-1) 1,
Formula 2:v
n2=(f
(n-1) 2-f
n2)/f
(n-1) 2;
Steps d. according to lapse rate v
n1with lapse rate v
n2judge that strong and weak and each structural member of each structural member performance is in the power of described cutting head directions X and Y-direction;
Step e. improves weak direction in the weak structural member of performance and structural member respectively.
2. the construction design method of laser cutting machine tool according to claim 1, is characterized in that, n=4.
3. the construction design method of laser cutting machine tool according to claim 2, is characterized in that, structural member P
1for connecting rod, structural member P
2for slide, structural member P
3for crossbeam, structural member P
4for lathe bed.
4. the construction design method of laser cutting machine tool according to claim 3, is characterized in that, in step b, sets up the model analysis finite element model M of cutting head and connecting rod assembly
1specifically comprise the following steps:
Step b10. will import in finite element analysis software after the three-dimensional entity model conversion of connecting rod, and definition material parameter;
Step b11. connecting rod is with entity form modeling, and cutting head is with quality point modeling;
Between step b12. cutting head and connecting rod, set up and be rigidly connected;
Step b13. defines the fixed boundary condition of connecting rod on the fitting surface of connecting rod and slide;
Step b14. obtains model analysis finite element model M according to finite element analysis computation
1the frequency values f swinging at cutting head directions X
11and the frequency values f swinging in cutting head Y-direction
12.
5. the construction design method of laser cutting machine tool according to claim 4, is characterized in that, in step b, at model analysis finite element model M
1basis on set up the model analysis finite element model M of cutting head, connecting rod and slide assembly
2specifically comprise the following steps:
Step b20. will import in finite element analysis software after the three-dimensional entity model conversion of slide, and definition material parameter;
Step b21. slide is with entity form modeling;
Step b22. sets up and is rigidly connected between connecting rod and slide;
Step b23. defines the fixed boundary condition of slide on the fitting surface of slide and crossbeam, cancels the fixed boundary condition of connecting rod in above-mentioned steps b13;
Step b24. obtains model analysis finite element model M according to finite element analysis computation
2the frequency values f swinging at cutting head directions X
21and the frequency values f swinging in cutting head Y-direction
22.
6. the construction design method of laser cutting machine tool according to claim 5, is characterized in that, in step b, at model analysis finite element model M
2basis on set up the model analysis finite element model M of cutting head, connecting rod, slide and crossbeam assembly
3specifically comprise the following steps:
Step b30. will import in finite element analysis software after the three-dimensional entity model conversion of crossbeam, and definition material parameter;
Step b31. crossbeam is with entity form modeling;
Step b32. sets up and is rigidly connected between slide and crossbeam;
Step b33. defines the fixed boundary condition of crossbeam on the fitting surface of crossbeam and lathe bed, cancels the fixed boundary condition of slide in above-mentioned steps b23;
Step b34. obtains model analysis finite element model M according to finite element analysis computation
3the frequency values f swinging at cutting head directions X
31and the frequency values f swinging in cutting head Y-direction
32.
7. the construction design method of laser cutting machine tool according to claim 6, is characterized in that, in step b, at model analysis finite element model M
3basis on set up the model analysis finite element model M of cutting head, connecting rod, slide, crossbeam and lathe bed assembly
4specifically comprise the following steps:
Step b40. will import in finite element analysis software after the three-dimensional entity model conversion of lathe bed, and definition material parameter;
Step b41. lathe bed is with entity form modeling;
Step b42. sets up and is rigidly connected between crossbeam and lathe bed;
Step b43., at the fixed boundary condition of lathe bed and fixed connection place, ground definition lathe bed, cancels the fixed boundary condition of above-mentioned steps b33 middle cross beam;
Step b44. obtains model analysis finite element model M according to finite element analysis computation
4the frequency values f swinging at cutting head directions X
41and the frequency values f swinging in cutting head Y-direction
42.
8. the construction design method of laser cutting machine tool according to claim 3, is characterized in that, described cutting head is installed on connecting rod bottom.
9. the construction design method of laser cutting machine tool according to claim 1, is characterized in that, described method also comprises utilizes topological optimization and/or dimensionally-optimised method to improve multiple structural members.
10. according to the construction design method of the laser cutting machine tool described in claim 1-9 any one, it is characterized in that, the scope of the excitation frequency value of described laser cutting machine tool is [1,50Hz].
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| CN104991991A (en) * | 2015-05-22 | 2015-10-21 | 南通大学 | Numerical simulation method for cutting process of bar cutter |
| CN104991991B (en) * | 2015-05-22 | 2018-05-04 | 南通大学 | A kind of cutting machine cutting process method for numerical simulation |
| CN108776430A (en) * | 2018-05-08 | 2018-11-09 | 苏州科技大学 | A kind of ball-screw feed drive system position loop gain optimization obtaining value method |
| CN108776430B (en) * | 2018-05-08 | 2021-02-02 | 苏州科技大学 | Position loop gain optimization value taking method for ball screw feeding driving system |
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