CN106230308B - A kind of ball screw assembly, pretightning force TT＆C system and method having from perceptional function - Google Patents
A kind of ball screw assembly, pretightning force TT＆C system and method having from perceptional function Download PDFInfo
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- CN106230308B CN106230308B CN201610803311.0A CN201610803311A CN106230308B CN 106230308 B CN106230308 B CN 106230308B CN 201610803311 A CN201610803311 A CN 201610803311A CN 106230308 B CN106230308 B CN 106230308B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
Abstract
The invention discloses a kind of ball screw assembly, pretightning force TT＆C system and method having from perceptional function, including pre-tightening apparatus and measure and control device, using giant magnetostrictive material as core, the positive back wash effect having using material realizes actuator and sensor function, permanent magnet provides bias magnetic field for giant magnetostrictive rod, one coil provides driving magnetic field as excitation coil for the ultra-magnetic deformation actuator of the measure and control device, current control actuator by changing excitation coil exports the size of pretightning force, another coil changed as pick-up winding by magnetic field caused by obtaining pretightning force change realize ball screw assembly, pretightning force from perceptional function.The present invention can realize that ball-screw pretension force self knows that and can realizes the automatic and accurate control of pretightning force, improve the transmission accuracy of ball screw assembly, the running precision and crudy for making Digit Control Machine Tool are guaranteed.
Description
Technical field
The invention belongs to the technical field of ball screw assembly, pretightning force automatic measuring and controlling, more particularly to one kind to have from perception work(
The ball screw assembly, pretightning force TT＆C system and method for energy.
Background technology
Equipment manufacture is horizontal mainly to see lathe, and high performance Digit Control Machine Tool needs matched high-performance feeding system
System.Ball screw assembly, is the crucial joint portion of NC machine tool feed system, and ball screw assembly, gap directly influences Digit Control Machine Tool
Actual motion precision and crudy, however, due to the error for manufacturing and assembling, ball-screw vice president has gap, rolled simultaneously
For ballscrew in the presence of axial load, ball and screw thread contact site can produce elastic deformation, ball-screw and nut
The size in gap can directly influence the precision of Digit Control Machine Tool actual processing, try to be eliminated or reduce therefore, should try one's best.
In Digit Control Machine Tool assembling, widely used pretightning force eliminates the gap of ball-screw-transmission.The application of pretightning force can
To reduce the axial gap of rolling element and raceway in nut assembly, increase feed system axial rigidity, the vibration in use is reduced
And the mechanical efficiency of increase ball screw assembly, it is particularly significant.The pre-tension method used now is divided into traditional pre-tension method and showed
The pre-tension method in generation.
Traditional pre-tension method is frequently with double nut pretension, and elastic deformation amount's control in Min., conventional is double
The pre-pressing structure pattern that nut eliminates axial gap mainly has：Double nut pad adjusts gap type, Double-nut threaded to adjust gap type and double spiral shells
Female tooth difference adjusts three kinds of gap type；Double nut pad adjusts gap type to be added gasket between being typically employed in two nuts of ball screw assembly, adjusts
The thickness of whole pad makes nut produce axial displacement, to reach the purpose for eliminating gap and producing pretightning force, changes the thickness of pad
Degree can make double nut obtain different pretightning forces, be characterized in simple in construction, and rigidity is high, and pretension is reliable and is not easy to relax, still
Inconvenience adjusts pretightning force at any time in use；Double-nut threaded adjusts gap type to be adjusted using the external screw thread on a nut by round nut
Pretension is realized in the position to axial of whole two nuts, is locked after adjusting with another round nut, is characterized in that pretightning force is adjusted
Perfect square just, can adjust at any time in use, but be unable to quantitative fine adjustment nut, axial dimension length；Double nut tooth difference adjusts gap type two
Respectively be formed with roller gear on the flange of individual nut, both numbers of teeth differ a tooth, and are fitted into ring gear, ring gear screw or
Alignment pin is fixed on sleeve, during adjustment, first removes the ring gear at both ends, when two ball nuts are relative to equidirectional turn of sleeve
When moving the identical number of teeth, a ball nut produces relative displacement to another ball nut, so that ball nut is relative to rolling
The spiral rolling track relative movement of ballscrew, reaches and eliminates gap and apply the purpose of pretightning force, is characterized in achievable accurate micro-
Adjust, pretension will not reliably relax, and adjustment pretightning force is convenient, but process complicated with assembly technology.
Modern pre-tension method mainly has electromagnet dynamic control pretension and piezoelectric actuator pretension；Electromagnet dynamic
Control the mechanism of ball-screw pretightning force, by the electric current in control input electromagnet coil come control electromagnet and magnetizing mediums it
Between magnetic force, realize the control to the pretightning force on ball-screw, but often in default of the low-dimensional magnet of sufficiently large magnetic force,
So as to cause peripheral components to be easily magnetized, vortex is also easy to produce；Piezoelectric actuator adjusts the mechanism of ball-screw pretightning force, defeated
Contribute and displacement is relatively small, and stepped construction makes it produce drift when being influenceed by external force.
For above-mentioned analysis, traditional ball-screw firmly beforehand meanses can not realize the dynamic measurement and control of pretightning force, in advance
The size of clamp force is adjusted to a fixed value in Product Assembly, can not be adjusted in real time with the change of external loading in the course of the work
It is whole, it can not accurately compensate for being driven auxiliary air gap change caused by deformation of wearing and generate heat, it is impossible to meet high accuracy, stable
Machine driving requirement；Although modern firmly beforehand meanses realize the dynamic adjustment of pretightning force, but by various during use
Condition limits, it is impossible to by wide popularization and application.With Digit Control Machine Tool, machining center at a high speed, high-precision, efficient direction constantly sends out
Exhibition, higher and higher requirement is proposed to ball screw assembly, preload Technique.
Chinese patent literature CN204512340U discloses a kind of controllable double nut ball screw assembly, of pretightning force, including silk
Thick stick and two feed screw nuts, two feed screw nuts are both connected on leading screw, and pre-load nut is provided with one of feed screw nut,
The ultra-magnetic deformation actuator being uniformly distributed circumferentially is connected between another feed screw nut and pre-load nut, each super magnetic
Cause one end of expansion actuator that one force snesor is set.Pre-load nut is used for the initial pretension for setting double nut ball screw assembly,
Power, the size of the pretightning force are limited to 1/3rd of load.The double nut ball screw assembly, is stretched using giant magnetostrictive rod
Contract to increase or reduce the pretightning force between leading screw and two nuts, realize the automatic pretension of ball-screw, securely and reliably, improve
The precision stability and reliability of ball-screw auxiliary driving.Although the controllable double nut ball screw assembly, of the pretightning force can be realized
The adjust automatically of ball screw assembly, pretightning force, but perceiving certainly for pretightning force, ultra-magnetic deformation actuator and spiral shell can not be realized
The force snesor set between mother adds the complexity of installation and design.
Chinese patent literature CN104565253U discloses a kind of automatic pre-tightening apparatus of double nut ball screw assembly, including pre-
Tight device and driving power, preloader include ultra-magnetic telescopic cylinder, excitation coil, initial pretension bolt and force snesor；Super magnetic
Flexible cylinder is caused to be sleeved on the leading screw of double nut ball screw assembly, and between two nuts in double nut ball screw assembly,
Force sensor is set between ultra-magnetic telescopic cylinder and a nut, initial pretension bolt is set on a nut；Excitation
Coil is placed on the outside of ultra-magnetic telescopic cylinder by coil, is connected between two nuts of double nut ball screw assembly, anti-
The stud that only two feed screw nuts relatively rotate；Excitation coil is connected with the digital-control constant-flow source in driving power；Driving electricity
Source, including microprocessor, D/A converter, digital-control constant-flow source and a/d converter.The patent realizes the automatic pretension of ball-screw, peace
It is complete reliable, realize the automation adjustment of ball-screw pretension.But the patent document can not realize perceiving certainly for pretightning force.
As can be seen here, in the prior art, the control to ball screw assembly, has only reached the journey of automation adjustment pretightning force
Degree, the perceiving certainly to ball screw assembly, pretightning force before automation adjusts can not be realized；It is in addition, existing to ball-screw
Secondary automatic pre-tightening apparatus is complicated, adds the difficulty installed and used.
The content of the invention
The present invention overcomes existing ball screw assembly, pretightning force controllable device to realize pretightning force to solve the above problems
From perceptional function and it is complicated the problem of, it is proposed that it is a kind of to have from the ball screw assembly, pretightning force observing and controlling system of perceptional function
System and method.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of ball screw assembly, pretightning force TT＆C system having from perceptional function, including pre-tightening apparatus and measure and control device,
Wherein：
The symmetrical structure that the pre-tightening apparatus exports for both-end, including giant magnetostrictive rod, the giant magnetostrictive rod peace
Loaded on coil rack center, pick-up winding and excitation coil, the outside of the excitation coil are wound with the outside of the coil rack
Permanent magnet is set, and the giant magnetostrictive rod both ends are connected by two pieces of magnetic inductive blocks with yoke respectively, the ultra-magnetic telescopic
Axle sleeve is cased with outside rod and the magnetic inductive block at both ends, the outside of every piece of magnetic inductive block is provided with an output ejector pin, the output top
Bar is connected by pre-load nut with non-magnetic shell, be additionally provided between the output ejector pin and non-magnetic shell butterfly spring with
Position-limiting drum, the position-limiting drum are located at the outside of butterfly spring, pass through pre-load nut between the output ejector pin and non-magnetic shell
Adjustment butterfly spring and position-limiting drum apply adjustable pretightning force to improve the telescopicing performance of giant magnetostrictive rod.
The measure and control device, including computer control system, digital-control constant-flow source and analog-digital converter；The computer control
System is connected with digital-control constant-flow source, analog-digital converter respectively；Excitation coil in the digital-control constant-flow source connection pre-tightening apparatus, makes
Current induced magnetic field is passed through in excitation coil, magnetic fields are on giant magnetostrictive rod caused by excitation coil；The digital-to-analogue turns
Parallel operation is connected with the pick-up winding in pre-tightening apparatus, the voltage signal of the pick-up winding measurement giant magnetostrictive rod, pickup leads
The voltage signal of circle measurement is transmitted to computer control system by analog-digital converter.
The permanent magnet is tubular structure, and permanent magnet provides bias magnetic field for giant magnetostrictive rod.
The non-magnetic shell is internally provided with internal thread.
The giant magnetostrictive rod is arranged between the first feed screw nut of ball screw assembly, and the second feed screw nut, described
First feed screw nut is connected with each other with the second feed screw nut by flat key, and first feed screw nut passes through with the second feed screw nut
Ball is connected with leading screw, and the output ejector pin at the giant magnetostrictive rod both ends passes through locking nut, stud and the first leading screw respectively
Nut, the connection of the second feed screw nut, pad is provided between the locking nut and the first feed screw nut, the second feed screw nut.
During pre-tightening apparatus works, giant magnetostrictive rod uses combined drive mode：Permanent magnet produces permanent
Fixed magnetic field provides bias magnetic field for giant magnetostrictive rod, prevents frequency multiplication phenomenon；Excitation coil is the super mangneto of the measure and control device
Extension stem provides driving magnetic field, and the current control actuator by changing excitation coil exports the size of pretightning force.
In the measure and control device course of work, excitation coil is connected with digital-control constant-flow source, is exported by adjusting digital-control constant-flow source
The size of electric current changes the size of electric current in excitation coil.The change of electric current can cause the change of driving magnetic field in excitation coil,
And then the size of pretightning force for controlling giant magnetostrictive rod to act between the first feed screw nut and the second feed screw nut, at this moment
Giant magnetostrictive rod is the anti-work that actuator, the first feed screw nut and the second feed screw nut produce pretightning force to giant magnetostrictive rod
Firmly, the reaction force of pretightning force is applied on giant magnetostrictive rod again, causes magnetic conductivity in giant magnetostrictive rod to change, at this moment
Giant magnetostrictive rod as sensor, the magnetic conductivity after change cause excitation coil coupled by giant magnetostrictive rod after magnetic strength
Intensity is answered to change, the pick-up winding measurement that the change of magnetic induction intensity passes through in pre-tightening apparatus obtains, pick-up winding output
Be the voltage signal for reacting magnetic induction intensity change, voltage signal feeds back to computer control system through analog-digital converter, picks up
Line taking circle changed by magnetic field caused by obtaining pretightning force change realize ball screw assembly, pretightning force from perceptional function.Control system
System realizes the control of output pretightning force by changing the size of digital-control constant-flow source output current.
Control method based on said system, specific steps include：
(1) target pretightning force is preset in computer control system, target pretightning force is passed through into computer control system
In feedforward against compensating controller, eliminate the intrinsic non-linear disturbance to power output of mangneto of giant magnetostrictive rod；
(2) target pretightning force is picked up with the leading screw pretightning force measure and control device calculated in the computer control system of feedback
The actual pretightning force that coil itself perceives, which compares, obtains control deviation, and control deviation is passed through into fractional order PIλDμController, disappear
Except ball screw assembly, pretightning force measure and control device is in the course of the work by error caused by unknown disturbances；
(3) result in the result in step (1) and step (2) is summed, adjusted according to result defeated in digital-control constant-flow source
The size of current gone out into excitation coil, and then finally make the High power output of ball-screw pretightning force TT＆C system is small to meet pretension
It is required that.
In the step (1), the inverse compensating controller that feedovers eliminates disturbance using existing feedforward control principle based on disturbance
Influence to controlled device, regard as in leading screw pretightning force measure and control device to defeated the intrinsic magnetic hysteresis of giant magnetostrictive rod is non-linear
A kind of disturbance action gone out, the inverse hysteresis model of system is calculated by the magnetic hysteresis nonlinear model of system, true further according to inversion model
Determine the control parameter of feedforward controller, realize to magnetic hysteresis compensation of nonlinearity.
In the step (2), the fractional order PIλDμController one shares five parameter KP、KI、KD, λ and μ, wherein KP、
KI、KDIt is ratio, integration, the differential gain respectively, λ and the fractional order factor that μ is integral term and differential term.
Beneficial effects of the present invention are：
(1) for the present invention using giant magnetostrictive material as core, the positive back wash effect having using material realizes actuator and biography
Sensor function.Cylindrical shape permanent magnet provides bias magnetic field for giant magnetostrictive rod, and a coil is the survey as excitation coil
The ultra-magnetic deformation actuator for controlling device provides driving magnetic field, and pretension is exported by the current control actuator for changing excitation coil
The size of power, another coil realize ball-screw as pick-up winding by obtaining magnetic field change caused by pretightning force change
Secondary pretightning force from perceptional function；
(2) control method of the invention realizes accurate pretightning force output control, using the inverse compensating controller of feedforward with
The control method that Fractional Order PID feedback controller is combined, it can not only eliminate the shadow of the intrinsic disturbance of giant magnetostrictive rod
Ring, while error caused by the unknown disturbances that the system receives in the course of the work can also be eliminated.
(3) present invention can realize that ball screw assembly, pretightning force realizes the automatic and accurate control of pretightning force from perception and can
System, improves the transmission accuracy of ball screw assembly, and the running precision and crudy for making Digit Control Machine Tool are guaranteed.
Brief description of the drawings
Fig. 1 is the structural representation of pre-tightening apparatus in the present invention；
Fig. 2 is the structural representation of measure and control device in the present invention；
Fig. 3 is the control method schematic diagram in the present invention；
Wherein, 1- output ejector pins, 2- pre-load nuts, 3- non-magnetic shells, 4- butterfly springs, 5- position-limiting drums, 6- yokes, 7-
Permanent magnet, 8- excitation coils, 9- coil racks, 10- axle sleeves, 11- giant magnetostrictive rods, 12- pick-up windings, 13- magnetic inductive blocks,
14- locking nuts, 15- pads, the feed screw nuts of 16- first, 17- studs, 18- flat keys, the feed screw nuts of 19- second, 20- leading screws,
21- balls.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Embodiment：
A kind of ball screw assembly, pretightning force TT＆C system having from perceptional function, including pre-tightening apparatus and measure and control device,
Wherein：
Pre-tightening apparatus structural representation as shown in Figure 1, the pre-tightening apparatus are the symmetrical structure of both-end output, including super
Magnetostrictive rod 11, the giant magnetostrictive rod 11 are installed on the center of coil rack 9, and the outside of coil rack 9, which is wound with, picks up
Line taking circle 12 and excitation coil 8, the outside of the excitation coil 8 set permanent magnet 7, the both ends of giant magnetostrictive rod 11 point
It is not connected by two pieces of magnetic inductive blocks 13 with yoke 6, the giant magnetostrictive rod 11 outside the magnetic inductive block 13 at both ends with being cased with axle sleeve
10, the outside of every piece of magnetic inductive block 13 is provided with an output ejector pin 1, the output ejector pin 1 by pre-load nut 2 with it is non-magnetic
Shell 3 connects, and the non-magnetic shell 3 is internally provided with internal thread, is also set between the output ejector pin 1 and non-magnetic shell 3
Be equipped with butterfly spring 4 and position-limiting drum 5, the position-limiting drum 5 is located at the outside of butterfly spring 4, the output ejector pin 1 with it is non-magnetic outer
Butterfly spring 4 is adjusted by pre-load nut 2 between shell 3 and position-limiting drum 5 applies adjustable pretightning force to improve ultra-magnetic telescopic
The telescopicing performance of rod 11.
The giant magnetostrictive rod 11 be arranged at ball screw assembly, the first feed screw nut 16 and the second feed screw nut 19 it
Between, first feed screw nut 16 is connected with each other with the second feed screw nut 19 by flat key 18, first feed screw nut 16 with
Second feed screw nut 19 is connected by ball 21 with leading screw 20, and the output ejector pin 1 at the both ends of giant magnetostrictive rod 11 leads to respectively
Cross locking nut 2, stud 17 is connected with the first feed screw nut 16, the second feed screw nut 19, the leading screw of locking nut 2 and first
Pad 15 is provided between nut 16, the second feed screw nut 19.
The permanent magnet 7 is tubular structure, and permanent magnet 7 produces constant magnetic field and provided partially for giant magnetostrictive rod 11
Put magnetic field.
During pre-tightening apparatus works, giant magnetostrictive rod 11 uses combined drive mode：Permanent magnet 7 produces
Constant magnetic field is that giant magnetostrictive rod 11 provides bias magnetic field, prevents frequency multiplication phenomenon；Excitation coil 8 is the super of the measure and control device
Magnetostrictive rod 11 provides driving magnetic field, and pretightning force is exported by the current control giant magnetostrictive rod 11 for changing excitation coil
Size.
The structural representation of measure and control device in the present invention as shown in Figure 2, the measure and control device, including computer control system
System, digital-control constant-flow source and analog-digital converter；The computer control system is connected with digital-control constant-flow source, analog-digital converter respectively；
Excitation coil in the digital-control constant-flow source connection pre-tightening apparatus, makes to be passed through current induced magnetic field in excitation coil, excitation coil
Caused magnetic fields are on giant magnetostrictive rod；The analog-digital converter is connected with the pick-up winding in pre-tightening apparatus, described
Pick-up winding measure giant magnetostrictive rod voltage signal, pick-up winding measurement voltage signal by analog-digital converter transmit to
Computer control system.
During measure and control device works, the signal that digital-control constant-flow source exports according to computer control system adjusts excitation
The control electric current I of coil, the electric current I changes flowed through on excitation coil cause magnetic field H change, the magnetic fields of change to super magnetic
Cause to cause the change of giant magnetostrictive rod displacement on extension stem, because both ends the first feed screw nut 16 and the second feed screw nut 19
Mechanical constraint produces different pretightning force F；Meanwhile first feed screw nut 16 and the second feed screw nut 19 to giant magnetostrictive rod 11
The reaction force F ' for producing pretightning force is applied on giant magnetostrictive rod 11 again, causes changing for the magnetic conductivity of giant magnetostrictive rod 11
Become, the magnetic conductivity after giant magnetostrictive rod 11 changes causes excitation coil 8 to pass through the magnetic induction after the coupling of giant magnetostrictive rod 11
Intensity B is changed, and the magnetic induction density B of change is measured by pick-up winding 12, and what pick-up winding 12 exported is reaction magnetic strength
The voltage signal for answering intensity B to change, voltage signal are converted to data signal through analog-digital converter and are conveyed to computer control system,
And then the intensity of magnetization on magnetic induction intensity and giant magnetostrictive rod is calculated, the pretightning force of ball screw assembly, is solved, here
The power solved is the power output of ball screw assembly, pre-tightening apparatus, according to target pretightning force and the error size of power output, it is determined that
Computer control system is transferred to the output control current signal of digital-control constant-flow source, and excitation coil is adjusted by control electric current I
Magnetic field H, finally make the High power output of ball-screw pretightning force TT＆C system is small to meet pretension requirement.
It is a kind of that there is the ball screw assembly, pretightning force TT＆C system from perceptional function using control method reality as shown in Figure 3
Now accurate pretightning force output control, the control method combines the inverse compensation control of feedforward and feedback control, in the inverse compensation of feedforward
Using the inverse compensating controller of feedforward in control, fractional order PI is used in feedback controlλDμController, specific steps include：
(1) the inverse compensation control of feedforward：Target pretightning force is preset in computer control system, target pretightning force is passed through
It is non-linear to power output to eliminate the intrinsic mangneto of giant magnetostrictive rod against compensating controller for feedforward in computer control system
Disturbance；
(2) feedback control：Target pretightning force is surveyed with the leading screw pretightning force calculated in the computer control system of feedback
The actual pretightning force that control device pick-up winding itself perceives, which compares, obtains control deviation, and control deviation is passed through into fractional order PIλDμ
Controller, ball screw assembly, pretightning force measure and control device is eliminated in the course of the work by error caused by unknown disturbances；
(3) result in the result in step (1) and step (2) is summed, adjusted according to result defeated in digital-control constant-flow source
The size of current gone out into excitation coil, and then finally make the High power output of ball-screw pretightning force TT＆C system is small to meet pretension
It is required that.
In the step (1), the inverse compensating controller that feedovers eliminates disturbance using existing feedforward control principle based on disturbance
Influence to controlled device, ultra-magnetic telescopic in a kind of ball screw assembly, pretightning force TT＆C system for having from perceptional function
A kind of non-linear disturbance action regarded as to output of the intrinsic magnetic hysteresis of rod, system is calculated by the magnetic hysteresis nonlinear model of system
Inverse hysteresis model, the control parameter of feedforward controller is determined further according to inversion model, is realized to magnetic hysteresis compensation of nonlinearity.
In the step (2), feedback controller uses fractional order PIλDμController, it is mainly used to eliminate the survey of leading screw pretightning force
Device is controlled in the course of the work by error caused by unknown disturbances, and target pretightning force by leading screw pretightning force measure and control device with picking up
The actual pretightning force that coil itself perceives, which compares, obtains control deviation, and ball-screw pretightning force observing and controlling is corrected with this error
The response of system, perform fractional order PIλDμThe adjustment control of controller, fractional order PIλDμThe structure of controller such as Fig. 3 dotted line frames
Shown in, the fractional order PIλDμController one shares five parameter KP、KI、KD, λ and μ, wherein KP、KI、KDBe respectively ratio,
Integration, the differential gain, λ and μ are the fractional order factor of integral term and differential term.It is more compared with classical integer rank PID controller
Two customized parameters λ and μ.Therefore, fractional order PIλDμController is used for having nonlinear characteristic based on giant magnetostrictive material
Ball-screw pretension Force control system, add adjustable range so that control to controll plant is more flexibly and accurate, obtains
Than the more preferable dynamic property of conventional integer rank PID controller, the robustness and totality of ball-screw pretension Force system must be improved
Control performance.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (5)
1. a kind of ball screw assembly, pretightning force TT＆C system having from perceptional function, including pre-tightening apparatus and measure and control device, its
It is characterized in：
The symmetrical structure that the pre-tightening apparatus exports for both-end, including giant magnetostrictive rod, the giant magnetostrictive rod are installed on
Coil rack center, the coil rack outside are wound with pick-up winding and excitation coil, and the outside of the excitation coil is set
Permanent magnet, the giant magnetostrictive rod both ends are connected by two pieces of magnetic inductive blocks with yoke respectively, the giant magnetostrictive rod with
Axle sleeve is cased with outside the magnetic inductive block at both ends, the outside of every piece of magnetic inductive block is provided with an output ejector pin, and the output ejector pin leads to
Pre-load nut is crossed to be connected with non-magnetic shell, be additionally provided between the output ejector pin and non-magnetic shell butterfly spring with it is spacing
Cylinder, the position-limiting drum are located at the outside of butterfly spring, adjusted between the output ejector pin and non-magnetic shell by pre-load nut
Butterfly spring and position-limiting drum apply adjustable pretightning force to improve the telescopicing performance of giant magnetostrictive rod；
During pre-tightening apparatus works, giant magnetostrictive rod uses combined drive mode：Permanent magnet produces constant
Magnetic field provides bias magnetic field for giant magnetostrictive rod, prevents frequency multiplication phenomenon；Excitation coil is the ultra-magnetic telescopic of the measure and control device
Rod provides driving magnetic field, and the current control actuator by changing excitation coil exports the size of pretightning force；
The measure and control device, including computer control system, digital-control constant-flow source and analog-digital converter；The computer control system
It is connected respectively with digital-control constant-flow source, analog-digital converter；Excitation coil in the digital-control constant-flow source connection pre-tightening apparatus, makes excitation
Current induced magnetic field is passed through in coil, magnetic fields are on giant magnetostrictive rod caused by excitation coil；The analog-digital converter
It is connected with the pick-up winding in pre-tightening apparatus, the voltage signal of the pick-up winding measurement giant magnetostrictive rod, pick-up winding is surveyed
The voltage signal of amount is transmitted to computer control system by analog-digital converter；
The permanent magnet is tubular structure, and permanent magnet provides bias magnetic field for giant magnetostrictive rod；
The giant magnetostrictive rod is arranged between the first feed screw nut of ball screw assembly, and the second feed screw nut, and described first
Feed screw nut is connected with each other with the second feed screw nut by flat key, and first feed screw nut and the second feed screw nut pass through ball
Be connected with leading screw, the output ejector pin at the giant magnetostrictive rod both ends respectively by locking nut, stud and the first feed screw nut,
Second feed screw nut is connected, and pad is provided between the locking nut and the first feed screw nut, the second feed screw nut.
2. a kind of ball screw assembly, pretightning force TT＆C system having from perceptional function as claimed in claim 1, it is characterized in that：
The non-magnetic shell is internally provided with internal thread.
3. based on the control method of the system as any one of claim 1-2, it is characterized in that：Specific steps include：
(1) the inverse compensation control of feedforward：Target pretightning force is preset in computer control system, target pretightning force is passed through into calculating
Against compensating controller, the intrinsic mangneto of elimination giant magnetostrictive rod is non-linear to disturb to power output for feedforward in machine control system
It is dynamic；
(2) feedback control：Target pretightning force is perceived with the pick-up winding itself calculated in the computer control system of feedback
Actual pretightning force compare obtain control deviation, control deviation is passed through into fractional order PIλDμController, eliminate ball screw assembly,
Pretightning force measure and control device is in the course of the work by error caused by unknown disturbances；
(3) result in the result in step (1) and step (2) is summed, is adjusted in digital-control constant-flow source and be output to according to result
Size of current in excitation coil, and then finally make the High power output of ball-screw pretightning force TT＆C system is small to meet that pretension will
Ask.
4. control method as claimed in claim 3, it is characterized in that：In the step (1), the inverse compensating controller that feedovers is using
There is feedforward control principle, influence of the disturbance to controlled device is eliminated based on disturbance, super in leading screw pretightning force measure and control device
A kind of non-linear disturbance action regarded as to output of the intrinsic magnetic hysteresis of magnetostrictive rod, is calculated by the magnetic hysteresis nonlinear model of system
Go out the inverse hysteresis model of system, the control parameter of feedforward controller is determined further according to inversion model, realize to the nonlinear benefit of magnetic hysteresis
Repay.
5. control method as claimed in claim 3, it is characterized in that：In the step (2), the fractional order PIλDμController one
Share five parameter KP、KI、KD, λ and μ, wherein KP、KI、KDIt is ratio, integration, the differential gain respectively, λ and μ are integral term and micro-
The fractional order factor of subitem.
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| CN108525070A (en) * | 2018-04-25 | 2018-09-14 | 上海应用技术大学 | A kind of superhigh precision magnetostriction syringe pump having from perceptional function |
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| CN110542505B (en) * | 2019-09-29 | 2021-09-14 | 山东大学 | Device and method for measuring friction moment of ball screw pair and application |
| CN112570243A (en) * | 2019-09-30 | 2021-03-30 | 重庆西山科技股份有限公司 | Method and system for controlling pretightening force of ultrasonic transducer |
| CN112016196B (en) * | 2020-08-11 | 2022-08-30 | 西北工业大学 | Double-nut planetary roller screw dynamics research method based on elastic deformation |
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