CN109664136A - It is a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction - Google Patents
It is a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction Download PDFInfo
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- CN109664136A CN109664136A CN201910012754.1A CN201910012754A CN109664136A CN 109664136 A CN109664136 A CN 109664136A CN 201910012754 A CN201910012754 A CN 201910012754A CN 109664136 A CN109664136 A CN 109664136A
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- sliding
- friction
- workbench
- mitigating
- sliding friction
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/46—Movable or adjustable work or tool supports using particular mechanisms with screw pairs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
- B23Q5/402—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw in which screw or nut can both be driven
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
- B23Q5/404—Screw bearings therefor
Abstract
The invention discloses a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction, it solves the problems, such as that typical linear motion guide rail sliding block can not overcome pre- sliding strong nonlinearity frictional influence in the reversing of motion in the prior art, it is accurate using the feedforward compensation method based on friction model, robustly compensate position tracking error, it is substantially reduced the influence of the time-variant nonlinear problem of pre- sliding phase, greatly improves complex surface machining quality；Its technical solution are as follows: the guide rail being parallel to each other including two, each guide rail are slidably connected with multiple sliding blocks；Compliant mechanism is installed, the compliant mechanism is supported in the bottom of workbench, mitigates pre- sliding friction by compliant mechanism above the sliding block；The workbench is driven by straight-line motion mechanism, and force snesor is arranged between straight-line motion mechanism and workbench.
Description
Technical field
The present invention relates to high-speed precision digital control process unit fields more particularly to a kind of for mitigating watching for pre- sliding friction
Take feed arrangement and control method.
Background technique
Linear motion guide rail is widely used in due to its low cost, big motion range, high off-axis rigidity and robustness
Precision movement platform.It is more and more applied in ultraprecise motion platform, for example, respectively as aerostatic bearing and cleaning
The compatible substitute in room.However, the use of linear motion guide rail typically results in position tracking error, when workbench attempts to overcome fortune
When pre- movement (that is, preroll/pre- sliding) during dynamic reversion rubs.Position tracking error can only be by feedback-system section
Ground inhibits, because feedback control can only can just take corrective action after error generation, have exceeded using feedback control
Achieved range.Therefore, feedforward compensation is most commonly used to inhibit position tracking error.
The feedforward compensation of position tracking error be offset with by using pre- friction of motion model prediction and first sending out one it is flat
Platform friction is realized.In order to effective, friction model must be accurate enough；And in order to practical, model should have
The parameter of minimum number, these parameters should be more easy to identify, without continually recalibrating.However, simple pre- movement rubs
Model is wiped often without enough precision, it is therefore desirable to complicated model.
In addition, simple and complicated premonition friction model all cannot be to through the function frequently as time and/or stage position
The variation of friction dynamics has robustness in the machine of appearance.Therefore, it is necessary to frequently recalibrate or adapt to keep it to have
Effect property.
When high speed five-axis NC machine center carries out complex surface machining, knife rest or workbench often carry out high speed and add
Retarded motion, i.e. knife rest or workbench need to decelerate to halted state rapidly from high-speed motion state, then reversely accelerate to
Fast state, because knife rest or workbench need to frequently enter pre- slides/rolls friction area, strong pre- sliding phase is non-linear
Friction will lead to knife rest or workbench appearance position tracking error, to influence workpiece surface processing quality.Existing means
Accurate Friction Modeling is usually carried out, but without the method that can solve the problem from Design of Mechanical Structure.
Summary of the invention
For overcome the deficiencies in the prior art, the servo feed dress that the present invention provides a kind of for mitigating pre- sliding friction
It sets and control method, it is accurate using the feedforward compensation method based on friction model, robustly compensate position tracking error, significantly subtract
The influence of the time-variant nonlinear problem of small pre- sliding phase, greatly improves complex surface machining quality.
The present invention adopts the following technical solutions:
It is a kind of for mitigating the servo feeding apparatus of pre- sliding friction, the guide rail being parallel to each other including two, each guide rail
It is slidably connected with multiple sliding blocks；Compliant mechanism is installed, the compliant mechanism is supported in the bottom of workbench, leads to above the sliding block
It crosses compliant mechanism and mitigates pre- sliding friction；The workbench is driven by straight-line motion mechanism, and straight-line motion mechanism and workbench
Between force snesor is set.
Further, the inner platform that the compliant mechanism includes the outer platform connected with sliding block, connect with workbench is interior flat
It is connected between platform and outer platform by flexible hinge.
Further, the inner platform is set to inside outer platform, is in double parallel quadrilateral structure.
Further, the guide rail side of being mounted on the base, the chassis interior are equipped with for measuring operating position
Grating scale.
Further, the straight-line motion mechanism is motor-driven ball screw framework, motor and ball screw framework
Between torque sensor is installed.
Further, the ball screw framework includes lead screw and the nut that is sheathed on lead screw, nut and connection frame it
Between force snesor is set, the connection frame is connected with workbench.
For mitigating the control method of the servo feeding apparatus of pre- sliding friction are as follows:
Feedforward control is carried out to the workbench using PID controller, is modeled using GMS model；
GMS model is made of N number of basic block and parallel connected spring, the behavior representation of each basic block are as follows:
Wherein, fi、kiAnd αiRespectively indicate the frictional force, spring rate and saturation limit of i-th of GMS basic block；
Since static, i-th of GMS basic block keeps stick slip behavior, until fi=αiFc, start to slide, basic block is kept
Sliding mode gets over zero passage until speed；
Using the GMS model parameter of frequency domain method identification motion platform.
Further, the pre- sliding friction stage shows spring performance, in movement reversal, the rigidity of pre- friction of motion from
kf=kσStart, with FfClose to Fc, Stiffness Drop is as low as kf=0, macro movement starts.
Further, by sine sweep, the power F of motor is obtainedaOpen-loop frequency response letter between worktable displacement x
Number FRF extracts principal resonant frequency from FRF, and the initial friction rigidity of rigid platfor is calculated based on spring mass model；It adopts
With the axial rigidity k of same procedure identification compliant mechanismj。
Further, by kjAnd kσ,rTandem compound is to obtain the initial friction rigidity k of flexibility platformσ,c。
Compared with prior art, the beneficial effects of the present invention are:
(1) guide rail slide block of the invention is not rigidly mounted on the mobile platform of workbench, but by moving
Rigidity is very low on direction, but the sufficiently high compliant mechanism of rigidity is connect with mobile platform in an off-axis direction, therefore, workbench pair
The variation of modeling error and pre- friction of motion rigidity is very insensitive, and this two the main reason for being position tracking error；
(2) present invention can realize low-down on working table movement direction in the case where excessively not reducing off-axis rigidity
Rigidity；Because pre- sliding friction rigidity value is smaller, thus it is non-linear weakened significantly, using the feedforward based on GMS friction model
Friciton compensation, so that it may greatly reduce position tracking error, and there is significant robustness.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is axonometric drawing of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is compliant mechanism structural schematic diagram of the invention；
Fig. 4 is rigid platfor dynamics schematic diagram；
Fig. 5 is flexibility platform dynamics schematic diagram；
Fig. 6 is control flow chart of the invention；
Wherein, 1, motor, 2, shaft coupling, 3, torque sensor, 4, shaft coupling, 5, lead screw support base, 6, lead screw, 7, bottom
Seat, 8, guide rail, 9, workbench, 10, worktable support frame, 11, nut seat, 12, force snesor, 13, connection frame, 14, lead screw branch
Support seat, 15, compliant mechanism, 16, sliding block, 17, nut, 18, grating scale, 19, flexible hinge, 20, outer platform mounting hole, 21, interior
Platform, 22, inner platform mounting hole, 23, outer platform.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, typical linear motion guide rail sliding block exists in the prior art in the reversing of motion
It can not overcome the shortcomings of pre- sliding strong nonlinearity frictional influence, in order to solve technical problem as above, present applicant proposes one kind
For mitigating the servo feeding apparatus and control method of pre- sliding friction.
In a kind of typical embodiment of the application, as shown in figs 1 to 6, provides one kind and rub for mitigating pre- sliding
The servo feeding apparatus of wiping, including pedestal 7, guide rail 8, sliding block 16, compliant mechanism 15, workbench 9, straight-line motion mechanism, wherein
There are two guide rails 8, and is arranged in parallel.
The U-shaped structure of the pedestal 7, two guide rails 8 are individually fixed in the top of pedestal 7, are slidably connected on each guide rail 8
There are multiple sliding blocks 16.
In some embodiments, being slidably connected on each guide rail 8, there are two sliding blocks 16.
The sliding block 16 is that stiffness preloads sliding block, and guide rail 8 is superfinishing level of confidentiality guide rail.
Grating scale 18 for measuring 9 position of workbench is installed inside the pedestal 7.
Straight-line motion mechanism is the ball screw framework that motor 1 drives, and the ball screw framework includes lead screw 6 and is arranged
In the nut 17 on lead screw 6, the nut 17 is connected with nut seat 11.
Motor 1 passes sequentially through shaft coupling 2, torque sensor 3, shaft coupling 4 and is connected with lead screw 6.
In some embodiments, the motor 1 is AC servo motor.
Lead screw support base 5 is fixed in 7 one end of pedestal, the fixed lead screw support base 14 of the other end, the both ends of lead screw 6 respectively with lead screw
Support base 5, lead screw support base 14 are connected.
Force snesor 12 is installed in 11 side of nut seat, and force snesor 12 passes through the workbench above connection frame 13 and its
9 are connected；The two sides of workbench 9 pass through respectively worktable support frame 10, compliant mechanism 15, sliding block 16 be connected with guide rail 8 (work
Platform support frame 10 is connect with compliant mechanism 15, and compliant mechanism 15 is connect with sliding block 16).
Worktable support frame 10 is used to support workbench 9, is fixedly connected with workbench 9.
Before macro movement (i.e. sliding or rolling completely) starts, movement rubs the experience of workbench 9 in advance as caused by sliding block 16
It wipes.
Pre- friction of motion can be modeled as the equivalent stiffness spring k of connecting working table 9 Yu guide rail 8f, as shown in Figure 4；Starting
When, kfIt is very big, but as more driving forces are applied to offset friction, kfIt is reduced rapidly and eventually becomes zero, to permit
Perhaps the macro movement of platform.
Position tracking error is that workbench 9 is attempted to overcome k by stationary statefWhen (movement commutation) caused by servo error.
Pre- friction of motion is a kind of nonlinearity phenomenon for being difficult to Accurate Model.Therefore, when use naive model is to pre- friction of motion
When being characterized, it is equivalent in kfIt is middle to introduce significant modeling error (the practical friction rigidity relative to workbench).By adopting
Modeling error can be reduced with more accurate pre- friction of motion model, but this model is usually very complicated, needs to recognize many
Parameter.
In addition, pre- kinetic friction force at any time and/or 9 position of workbench and change, therefore even for complicated friction
Model, with the variation of practical friction rigidity, error can also be introduced into kfIn.
Flexibility platform dynamics schematic diagram as shown in Figure 5, for solving due to caused by modeling inaccuracy or friction variation
kfError.The sliding block of linear rolling track is not rigidly fixed in mobile station, by the movement direction using rigid
Angle value is kjJoint be attached.
Therefore, the workbench 9 with compliant mechanism 15 can be modeled as rigidity kfAnd kjSeries of combination, composite rigidity are as follows:
kcTo kfIn error sensitivity are as follows:
In formula,
If kj< < kf, there is η → 0, kcTo kfIn the sensitivity of error become very small.That is, working as kfIt is very high and
When appearance position tracking error, very small kjThe combination for having dominated the movement incipient stage (when workbench 9, which moves, to commutate) is rigid
Degree.
Therefore, if kj< < kf, and it is accurately known that kjEven if working as kfIn there are when Errors Catastrophic, also can be realized position
Set the accurate compensation of tracking error.
It is being based on kj< < kfRequirement, the rigidity of compliant mechanism 15 must than the pre- friction of motion of each sliding block 16 just
The small several orders of magnitude of beginning rigidity.Joint must also keep the order of magnitude identical with the off-axis rigidity of sliding block 16, in order to avoid destruction work
The rigidity of platform 9.
As shown in figure 3, the compliant mechanism 15 includes outer platform 23 and inner platform 21, inner platform 21 is set to outer platform 23
Center, and the two sides of inner platform 21 are connected by multiple spaced flexible hinges 19 with outer platform 23, flexible hinge
The rigidity of chain couples in all directions.
Inner platform 21 and outer platform 23 are in double parallel quadrilateral structure, to reduce its axial rigidity.
Inner platform 21 opens up inner platform mounting hole 22, and outer platform 23 opens up outer platform mounting hole 20, and inner platform 21 passes through interior
The worktable support frame 10 of stage+module hole 22 and 9 bottom of workbench is fixed, and outer platform 23 is by outer platform mounting hole 20 and slides
Block 16 is fixed.
The rigidity value of compliant mechanism 15 can be obtained by the finite element analysis of SolidWorks and COMSOL in Fig. 3.Bearing
Vertically and laterally rigidity value obtained from bearing catalogue.It ensure that the axial rigidity of compliant mechanism 15 is smaller than sliding block 16 when design
It is more than two orders of magnitude, and the vertically and laterally axial rigidity order of magnitude having the same of rigidity value and sliding block 16.
The composite rigidity of sliding block 16 and compliant mechanism 15 and the rigidity of compliant mechanism 15 are essentially identical, show compliant mechanism 15
Rigidity is occupied an leading position.It is furthermore noted that the rigidity value order of magnitude having the same of the vertically and laterally rigidity value and bearing of combination,
This means that off-axis rigidity will not be excessively damaged.
Feedforward control is carried out to workbench 9 using PID controller, for the friction feedforward compensation of position tracking error.
In order to accurately describe the advanced dynamic of friction rigidity in pre- sliding phase, the application uses broad sense Maxwell-
Slip (GMS) model is modeled.
GMS model is made of N number of basic (massless) block and parallel connected spring, and the behavior of each basic block is by two
State (adhere or slide) determines, indicates are as follows:
Wherein, fi、kiAnd αiRespectively indicate the frictional force, spring rate and saturation limit of i-th of GMS basic block；It is all to rub
The internal friction state z of cleaning block is shared.
Since static, i-th of GMS basic block keeps stick slip behavior, until fi=αiFc, start to slide, basic block is kept
Sliding mode gets over zero passage (i.e. generation movement reversal) until speed.
Sliding (i.e. macro movement) behavior of block, the differential equation are indicated usually using friction dynamics are as follows:
The precision of GMS model is improved with the increase of N, using frequency domain method, with N=10 block identification rigid platfor
GMS model parameter.
By model above it is found that the pre- sliding friction stage shows spring performance.In movement reversal, pre- friction of motion
Rigidity is from kf=kσStart, with FfClose to Fc, Stiffness Drop is as low as kf=0, macro movement starts.
Using frequency domain method, the GMS model parameter of motion platform is recognized.Using the power amplitude of very little, by sine sweep,
Obtain 1 power F of motoraOpen-loop frequency response function (FRF) between 9 displacement x of workbench.Principal resonant frequency is extracted from FRF,
And rigid platfor (k is calculated based on simple spring mass model as shown in Figure 4σ,r) initial friction rigidity.
Using the axial rigidity k of identical method identification compliant mechanism 15j, being applied to flexibility platform (has flexible machine
The platform of structure 15)；Then by kjAnd kσ,rTandem compound is to obtain the initial friction rigidity k of submissive platformσ,c。
FcIt is that the constant force needed for maintenance macroscopic motion determines.
Note that kσ,cMainly by kjControl, and about compare kσ,rLow two orders of magnitude.
In conjunction with force snesor 12 and torque sensor 3, accurate friction parameter identification is carried out using whole assembly discrimination method, it will
Identification result is applied in controller.
High-speed NC Machining center is when processing complex-curved, knife rest or workbench based on linear motion guide rail support
In commutation, can inevitably enter has the pre- sliding friction region of strong nonlinearity frictional influence, cause biggish position with
Track error, to influence the suface processing quality of workpiece.The application is asked for accurate, the robust feedforward compensation of position tracking error
Topic, proposes the compliant mechanism solution based on GMS friction model.
The application linear rolling track, sliding block are not rigidly mounted on the mobile platform of workbench 9, but by
Rigidity is very low in the direction of motion, but the sufficiently high compliant mechanism 15 of rigidity is connect with mobile platform in an off-axis direction.Therefore, should
Workbench 9 is very insensitive to the variation of modeling error and pre- friction of motion rigidity, and this two be position tracking error master
Want reason.
The application can realize low-down rigid in 9 direction of motion of workbench in the case where excessively not reducing off-axis rigidity
Degree；Because pre- sliding friction rigidity value is smaller, thus it is non-linear weakened significantly, rubbed using the feedforward based on GMS friction model
Wipe compensation, so that it may greatly reduce position tracking error, and there is significant robustness.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of for mitigating the servo feeding apparatus of pre- sliding friction, which is characterized in that the guide rail being parallel to each other including two,
Each guide rail is slidably connected with multiple sliding blocks；Compliant mechanism is installed, the compliant mechanism is supported in workbench above the sliding block
Bottom, pre- sliding friction is mitigated by compliant mechanism；The workbench is driven by straight-line motion mechanism, and straight-line motion mechanism
Force snesor is set between workbench.
2. according to claim 1 a kind of for mitigating the servo feeding apparatus of pre- sliding friction, which is characterized in that described
Compliant mechanism includes the outer platform being connected with sliding block, the inner platform connecting with workbench, by soft between inner platform and outer platform
Property hinge be connected.
3. according to claim 2 a kind of for mitigating the servo feeding apparatus of pre- sliding friction, which is characterized in that described
Inner platform is set to inside outer platform, is in double parallel quadrilateral structure.
4. according to claim 1 a kind of for mitigating the servo feeding apparatus of pre- sliding friction, which is characterized in that described
The guide rail side of being mounted on the base, the chassis interior are equipped with the grating scale for measuring operating position.
5. according to claim 1 a kind of for mitigating the servo feeding apparatus of pre- sliding friction, which is characterized in that described
Straight-line motion mechanism is motor-driven ball screw framework, and torque sensor is installed between motor and ball screw framework.
6. according to claim 5 a kind of for mitigating the servo feeding apparatus of pre- sliding friction, which is characterized in that described
Ball screw framework includes lead screw and the nut that is sheathed on lead screw, and force snesor, the company are arranged between nut and connection frame
Frame is connect to be connected with workbench.
7. the control method of -6 any servo feeding apparatus for mitigating pre- sliding friction according to claim 1,
It is characterized in that, feedforward control is carried out to the workbench using PID controller, is modeled using GMS model；
GMS model is made of N number of basic block and parallel connected spring, the behavior representation of each basic block are as follows:
Wherein, fi、kiAnd αiRespectively indicate the frictional force, spring rate and saturation limit of i-th of GMS basic block；
Since static, i-th of GMS basic block keeps stick slip behavior, until fi=αiFc, start to slide, basic block keeps sliding
State gets over zero passage until speed；
Using the GMS model parameter of frequency domain method identification motion platform.
8. according to claim 7 for mitigating the control method of the servo feeding apparatus of pre- sliding friction, feature exists
In the pre- sliding friction stage shows spring performance, and in movement reversal, the rigidity of pre- friction of motion is from kf=kσStart, with
FfClose to Fc, Stiffness Drop is as low as kf=0, macro movement starts.
9. according to claim 7 for mitigating the control method of the servo feeding apparatus of pre- sliding friction, feature exists
In obtaining the power F of motor by sine sweepaOpen-loop frequency response function FRF between worktable displacement x, from FRF
Principal resonant frequency is extracted, and calculates the initial friction rigidity of rigid platfor based on spring mass model；It is recognized using same procedure
The axial rigidity k of compliant mechanismj。
10. according to claim 9 for mitigating the control method of the servo feeding apparatus of pre- sliding friction, feature exists
In by kjAnd kσ,rTandem compound is to obtain the initial friction rigidity k of flexibility platformσ,c。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910012754.1A CN109664136A (en) | 2019-01-07 | 2019-01-07 | It is a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction |
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| CN201910012754.1A CN109664136A (en) | 2019-01-07 | 2019-01-07 | It is a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866038A (en) * | 2019-04-02 | 2019-06-11 | 山东大学 | It is a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction |
| CN110209117A (en) * | 2019-05-09 | 2019-09-06 | 山东大学 | A kind of big rigidity dexterity whole assembly Friction identification servo feeding apparatus and method |
| CN113829085A (en) * | 2021-09-30 | 2021-12-24 | 山东交通学院 | Flexible slip table that feeds with adjustable it is two-way |
| CN116337292A (en) * | 2023-05-27 | 2023-06-27 | 佛山市华道超精科技有限公司 | Rigid-flexible composite guide force sensor structure and application thereof |
-
2019
- 2019-01-07 CN CN201910012754.1A patent/CN109664136A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866038A (en) * | 2019-04-02 | 2019-06-11 | 山东大学 | It is a kind of for mitigating the servo feeding apparatus and control method of pre- sliding friction |
| CN110209117A (en) * | 2019-05-09 | 2019-09-06 | 山东大学 | A kind of big rigidity dexterity whole assembly Friction identification servo feeding apparatus and method |
| CN110209117B (en) * | 2019-05-09 | 2021-10-15 | 山东大学 | High-rigidity flexible full-assembly friction identification servo feeding device and method |
| CN113829085A (en) * | 2021-09-30 | 2021-12-24 | 山东交通学院 | Flexible slip table that feeds with adjustable it is two-way |
| CN116337292A (en) * | 2023-05-27 | 2023-06-27 | 佛山市华道超精科技有限公司 | Rigid-flexible composite guide force sensor structure and application thereof |
| CN116337292B (en) * | 2023-05-27 | 2023-11-24 | 佛山市华道超精科技有限公司 | Rigid-flexible composite guide force sensor structure and application thereof |
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Application publication date: 20190423 |