CN112799304B - Dual-motor synchronous control method and device based on time-varying friction compensation - Google Patents
Dual-motor synchronous control method and device based on time-varying friction compensation Download PDFInfo
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Abstract
The invention relates to a double-motor synchronous control method, equipment and a storage medium based on time-varying friction compensation, wherein the method comprises the following steps: establishing a kinetic equation of the dual-drive feeding system, and performing Laplace transformation to obtain a mechanical transfer function of the dual-drive feeding system; establishing a biaxial Stribeck friction model, and performing parameter identification on the Stribeck friction model to establish friction models of moving parts in a double-drive feeding system at different positions; solving the friction model by adopting a Newton interpolation method to obtain a double-axis friction model function; according to the mechanical transfer function and the double-shaft friction model function, carrying out friction compensation on double shafts in the moving process of the moving part; and a double-shaft displacement detection device is adopted to perform real-time feedback of positioning errors, and the fed error data is input into a cross coupling controller so as to realize the synchronization of double motors. The invention solves the problem that the double-motor synchronous control of the feeding system of the existing numerical control equipment is difficult.
Description
Technical Field
The invention relates to the technical field of multi-motor synchronous control of precision gantry mobile type dual-drive feeding numerical control equipment, in particular to a dual-motor synchronous control method and device based on time-varying friction compensation and a storage medium.
Background
With the rapid development of modern manufacturing industry, the requirements on the performance and the precision of numerical control equipment are continuously improved, and the requirements on the performance and the precision of a feeding system serving as a key transmission component influencing the machining precision of the numerical control equipment are higher and higher. Compared with a traditional single motor and single screw rod driven feeding system, the double-drive feeding system is widely applied to various high-grade numerical control equipment due to the advantages of high rigidity, quick response and the like. The double-drive feeding is a feeding mode that a double motor is symmetrically arranged in the feeding direction of a moving part and is matched with a double ball screw to drive a load together, and the symmetrical arrangement of the double screw rods offsets extra bending moment generated by unbalanced load to a certain extent, so that the stress of a feeding system is more reasonable, the speed, the acceleration, the rigidity and the load capacity of the feeding system are greatly improved, and the service life of the screw rod and the processing precision of numerical control equipment are improved.
However, the dual-drive synchronous feeding structure also brings challenges to the synchronous control of the two shafts, and in the dual-drive feeding system, not only is good tracking precision required for a single shaft, but also a synchronous error between the two shafts must be strictly controlled. Due to the differences of assembly precision, load movement, environment and the like, the asynchronization of the two shafts is inevitably caused; meanwhile, due to the strong coupling relation introduced by mechanical connection between the two shafts, synchronous control becomes complicated, and if the control is improper, the lead screw is irreversibly damaged and the moving part is torsionally deformed due to overlarge synchronous error between the shafts, so that a driving system is unbalanced, and the processing precision is influenced.
Disclosure of Invention
In view of the above, it is necessary to provide a method, a device and a storage medium for controlling dual-motor synchronization based on time-varying friction compensation, so as to solve the problem of difficulty in controlling dual-motor synchronization of a feeding system of a current numerical control device.
In a first aspect, the invention provides a dual-motor synchronous control method based on time-varying friction compensation, which comprises the following steps:
establishing a dynamic equation of the dual-drive feeding system by adopting a Newton second law, and carrying out Laplace transformation on the dynamic equation to obtain a mechanical transfer function of the dual-drive feeding system;
establishing a biaxial Stribeck friction model, and performing parameter identification on the Stribeck friction model to establish friction models of moving parts in a dual-drive feeding system at different positions;
solving the friction model of the moving part at different positions by adopting a Newton interpolation method to obtain a double-shaft friction model function of a double shaft at any position and any speed of the moving part;
according to the mechanical transfer function and the double-shaft friction model function, carrying out friction compensation on double shafts in the moving process of the moving part;
and measuring the double-shaft displacement error by adopting a double-shaft two-side displacement detection device, inputting the detected double-shaft error into a cross coupling controller, and distributing the double-shaft error to the double shafts respectively through a cross coupling control algorithm to complete synchronous control.
Preferably, in the dual-motor synchronous control method based on time-varying friction compensation, a kinetic equation of the dual-drive feeding system is as follows:
wherein, Fd1And Fd2Driving forces of X1 and X2 axes, f1And f2The friction force f on the X1 and X2 axes respectively1And f2Function representing position of moving part and feed speed, m1And m2Masses of the beam and of the moving part, O, respectivelycIs the center of mass J of the combined bodycTo the combined body wind OcMoment of inertia of l1Is the center of mass OcDistance to X1 axis, l2Is the center of mass OcDistance to X2 axis, XcIs OcAnd theta is a deflection angle of the beam rotating around the Z axis due to double-axis asynchronization during the movement of the beam.
Preferably, in the dual-motor synchronous control method based on time-varying friction compensation, a mechanical transfer function of the dual-drive feeding system is as follows:
wherein k ise1And ke2Axial stiffness for the X1 and X2 axes, X1And x2Respectively, a biaxial actual displacement, X1And X2Denotes x1And x2Laplace transform, XordShowing the output displacement of the motor, l being the position of the moving part from the axis X1, c1And c2The coefficients of friction of the X1 axis and the X2 axis are respectively.
Preferably, in the dual-motor synchronous control method based on time-varying friction compensation, the Stribeck friction model is:
in the formula FfAs friction force, FcIs coulomb friction force, FsAt maximum static friction, vsIs the Stribeck speed.
Preferably, in the dual-motor synchronous control method based on time-varying friction compensation, the step of performing parameter identification on the Stribeck friction model specifically includes:
the method comprises the steps of obtaining friction torques of different structures at different speeds, adopting a least square method to determine initial values of parameters to be identified in the Stribeck friction model, and adopting a genetic algorithm to fit the initial values of the parameters so as to identify the parameters in the Stribeck friction model.
Preferably, in the dual-motor synchronous control method based on time-varying friction compensation, the dual-axis friction model functions of the dual axis at any position and at any speed of the moving member are respectively as follows:
wherein, Ts1(l)、Tc1(l)、vs1(l) And B1(l) Friction model parameter, T, of friction model function for X1 axiss2(l)、Tc2(l)、vs2(l) And B2(l) Friction model parameters of the friction model function for the X2 axis.
Preferably, in the two-motor synchronous control method based on time-varying friction compensation, the step of performing friction compensation on the two shafts during the moving process of the moving member according to the mechanical transfer function and the two-shaft friction model function specifically includes:
according to the mechanical transfer function and the double-shaft friction model function, a double-ring double-motor synchronous control strategy is obtained by adopting a cross coupling control method;
and performing friction compensation on the double shafts according to the double-ring double-motor synchronous control strategy.
Preferably, in the dual-motor synchronous control method based on time-varying friction compensation, the step of performing friction compensation on the dual shafts according to the dual-ring dual-motor synchronous control strategy specifically includes:
when a moving part position instruction value and a beam moving position instruction value are input, the double-ring double-motor synchronous control strategy is led into a numerical control system, friction compensation is carried out, and actual displacement of a double shaft is accurately controlled in real time, wherein the input of the numerical control system is an ideal displacement value, and the output is an actual motor displacement value.
In a second aspect, the present invention further provides a dual-motor synchronous control device based on time-varying friction compensation, including: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps in the dual-motor synchronous control method based on time-varying friction compensation as described above.
In a third aspect, the present invention also provides a computer readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps in the time-varying friction compensation based dual-motor synchronous control method as described above.
Compared with the prior art, the double-motor synchronous control method, the double-motor synchronous control equipment and the storage medium based on time-varying friction compensation provided by the invention aim at the structural characteristics of a double-drive feeding system, consider the difference of friction forces borne by two shafts caused by a moving part on a cross beam in the moving process, and establish friction models borne by the two shafts under different double-drive structures. In addition, the influence of the feeding speed of the cross beam on the friction force borne by the two shafts is considered, and finally a relation model of the friction force borne by the two shafts, the position of the moving part and the feeding speed of the cross beam is established. And finally, double-motor synchronous control based on time-varying friction compensation is realized, wherein the friction of double shafts has time-varying characteristics due to the double-drive structure and the change of the feeding speed, the tracking precision of a single shaft is improved, the synchronous error between the double shafts is reduced, and the double-drive feeding precision is finally improved.
Drawings
FIG. 1 is a flow chart of a method for controlling dual-motor synchronization based on time-varying friction compensation according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a dynamic model of a preferred embodiment of a dual drive feed system configuration suitable for use with the present invention;
FIG. 3 is a schematic diagram of an application structure of a dual-motor synchronous control method based on time-varying friction compensation according to a preferred embodiment of the present invention;
FIG. 4 is a block diagram of a transfer function of a dual-drive feeding system in the dual-motor synchronous control method based on time-varying friction compensation according to a preferred embodiment of the present invention;
FIG. 5 is a control block diagram of a dual-axis friction model according to a preferred embodiment of the dual-motor synchronous control method based on time-varying friction compensation provided in the present invention;
FIG. 6 is a control block diagram of a cross coupling in a dual-motor synchronous control method based on time-varying friction compensation according to a preferred embodiment of the present invention;
FIG. 7 is a control block diagram of a preferred embodiment of dual-motor synchronization in the dual-motor synchronization control method based on time-varying friction compensation according to the present invention;
FIG. 8 is a schematic diagram illustrating position tracking errors of a dual-motor synchronous control based on time-varying friction compensation according to a preferred embodiment of the present invention;
FIG. 9 is a schematic diagram of synchronization errors of a preferred embodiment of dual-motor synchronization control based on time-varying friction compensation according to the present invention;
FIG. 10 is a schematic diagram of an operating environment of a dual-motor synchronous control procedure based on time-varying friction compensation according to a preferred embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Referring to fig. 1, a dual-motor synchronous control method based on time-varying friction compensation according to an embodiment of the present invention includes the following steps:
s100, establishing a dynamic equation of the dual-drive feeding system by adopting a Newton second law, and performing Laplace transformation on the dynamic equation to obtain a mechanical transfer function of the dual-drive feeding system. Specifically, referring to fig. 2 and fig. 3 together, a specific structure of the dual-drive feeding system is shown in fig. 3, and fig. 3 shows that the beam is composed of two servo motors, a coupler, a ball screw, two guide rail sliders and two grating scales on two sides of the beam, which are arranged in parallel and symmetrically; when a beam displacement instruction x is sent to the controller0The controller controls the driver, and the driver controls the double-shaft motor in real time; because the moving part moves on the cross beam, the friction force borne by the two shafts changes at any moment and is different, and the different friction force borne by the two shafts causes synchronization error, so that the synchronization precision is reduced. Firstly, considering the rigidity of the key combination part of the feeding system, and obtaining the contact rigidity of the screw rod and the nut and the contact rigidity of the bearing and the screw rod by adopting the hertz contact theorem, please refer to fig. 2 together, and the concrete formula is as follows:
since the friction force of the feeding system is influenced by the feeding speed and the position of the moving part, when the influence of the friction force on the contact rigidity of the screw rod and the nut is considered, a contact rigidity expression of the screw rod and the nut A can be obtained, and the specific formula is as follows:
similarly, an expression of the contact rigidity of the lead screw and the nut B can be obtained, and the specific formula is as follows:
namely, the expression of the contact rigidity of the screw rod and the nut is as follows:
Knut(v,P1)＝max(KnutAF,KnutBF)
similarly, the contact rigidity of the screw rod and the bearing caused by the variable friction force can be obtained, and the specific formula is as follows:
because the lead screw adopts one end to fix one end and simply supports the other end, and the fixed end adopts two angular contact bearings, according to the rigidity series-parallel connection principle, the contact rigidity expression of the lead screw and the bearings is obtained as follows:
thus, a feed system axial stiffness model can be obtained:
the axial stiffness of the X1 axle system is represented by i-1, and the axial stiffness of the X2 axle system is represented by i-2.
The Newton's second law is adopted, and the axial rigidity of the feeding system is combined, so that the dynamic equation of the double-drive feeding system is established as follows:
wherein, Fd1And Fd2Driving forces of X1 and X2 axes, f1And f2The friction force, f, on the X1 and X2 axes respectively1And f2Function representing position of moving part and feed speed, m1And m2Masses of the beam and of the moving part, O, respectivelycIs the center of mass of the combined body, OsIs the center of mass of the moving part, OgIs the center of mass of the beam, JcFor the combined body (i.e. beam and moving part) to surround OcMoment of inertia of l1Is the center of mass OcDistance to X1 axis, l2Is the center of mass OcDistance to X2 axis, XcIs OcAnd theta is a deflection angle of the beam rotating around the Z axis due to double-axis asynchronization during the movement of the beam.
Further, J1,J2And JcThe expression of (a) is:
wherein, Jo1Is a beam around OgMoment of inertia of J1And J2Around the beam and moving part, respectivelycMoment of inertia of l1Is OcDistance to the X1 axis, l2Is OcDistance to the X2 axis, L being the length of the beam. O iscIs the center of mass of the combined body, OsIs the center of mass of the moving part, OgIs the center of mass of the beam.
The relationship between axial drive force and axial stiffness is:
wherein k ise1And ke2Axial stiffness for the X1 and X2 axes, X1And x2Respectively, the two-axis actual displacement.
x1,x2And xcThe relationship between them is:
and performing Laplace transform on the formula to obtain a mechanical transfer function G of the dual-drive feeding system1And G2Comprises the following steps:
wherein k ise1And ke2Axial stiffness for the X1 and X2 axes, X1And x2Respectively, a biaxial actual displacement, X1And X2Denotes x1And x2Laplace transform, XordShowing the output displacement of the motor, l being the position of the moving part from the axis X1, c1And c2The coefficients of friction of the X1 axis and the X2 axis are respectively.
According to the transfer function, a transfer function block diagram of the dual-drive feeding system can be established, as shown in fig. 4.
S200, establishing a biaxial Stribeck friction model, and performing parameter identification on the Stribeck friction model to establish friction models of moving parts in the double-drive feeding system at different positions.
Specifically, a stribeck friction model is adopted, a double-drive feeding system X1 and X2 shaft friction model is established, and parameters in the friction model are identified.
Wherein the Stribeck friction model is:
in the formula FfAs friction force, FcIs coulomb friction force, FsAt maximum static friction, vsFor Stribeck velocity, the Stribeck friction model for rotational motion is:
the friction model parameters are identified through uniform speed experiments at different speeds, and the friction torque T is obtained under the condition of not applying extra torquefAnd a driving torque TdThe following relationships exist:
by recording the motor output torque at each position of the moving member, the friction torque of the X1 axis is shown in table 1 and the friction torque of the X2 axis is shown in table 2, for example, when the position l of the moving member is 0.
TABLE 1 Friction torque experiment data table for X1 shaft in uniform motion
TABLE 2 Friction torque experiment data table of X2 shaft in uniform motion
And similarly, the output torque of the X1 and X2 shaft motors of the moving part at each position can be obtained, and friction model parameters are identified based on a least square method and a genetic algorithm. Therefore, the step of performing parameter identification on the Stribeck friction model specifically comprises the following steps:
the method comprises the steps of obtaining friction torques of different structures at different speeds, adopting a least square method to determine initial values of parameters to be identified in the Stribeck friction model, and adopting a genetic algorithm to fit the initial values of the parameters so as to identify the parameters in the Stribeck friction model.
Specifically, based on the principle of least squares, the straight lines y are used respectively1＝a1x+b1And y2＝a2x+b2Fitting the low-speed section and the middle-high speed section, and vsThe initial values of (a) are:
performing linear fitting on the low-speed section and the medium-high speed section in the friction model by adopting a least square method to obtain a friction parameter TS，TC，vsAnd the initial value of B, providing the initial value for adopting the genetic algorithm to fit. According to the initial value identified by the least square method, the range of the vector to be identified of the genetic algorithm is given, and the genetic algorithm performs genetic operations such as selection, intersection, variation and the like in the given range according to the individual fitness to complete global search and approach the optimal solution of the target function. And (5) finishing the identification of the friction parameters by adopting a matlab software genetic algorithm toolbox. To determine whether the identified friction model can describe the true friction characteristics, the fitness function is defined as follows:
wherein, T (v)i) For the purpose of the experimentally measured friction torque,
is the torque value predicted by the friction model. Obtaining optimal friction model parameters through fitness function。
When the moving part is positioned at different positions on the cross beam, the friction parameter identification process is repeated, and the parameters related to the Stribeck friction model of the X1 shaft and the X2 shaft when the moving part is positioned at different positions can be obtained. In the identification process, the moving stroke of the moving part is 0-1.2 m, the positions l of the moving part are 0, 0.2m, 0.4m, 0.6m, 0.8m, 1.0m and 1.2m, and the identification results of the parameters of the biaxial Stribeck friction model at different positions are shown in tables 3 and 4.
TABLE 4X 2 Axis Friction model parameters
S300, solving the friction model of the moving part at different positions by adopting a Newton interpolation method to obtain a double-shaft friction model function of the double shaft at any position and any speed of the moving part.
Specifically, the influence of the structural change of the double-drive feeding system, namely the position change of the moving part on the double-shaft friction model is obtained by adopting a Newton interpolation method. Let friction model parameter Ts(l)、Tc(l)、vs(l) And B (l) is a function of the position of the moving part l. Newton's interpolation polynomial Nn(li) A polynomial of degree n, of the form:
Nn(l)＝a0+a1(l-l0)+a2(l-l0)(l-l1)+…+an(l-l0)(l-l1)…(l-ln-1)，
when the moving part is at different positions, the relationship of each function with the position can be expressed as (l)i,Ts(li) (i ═ 0,1, L, n). The interpolation quotient of each order of the Newton interpolation method is shown in the following formula:
in the formula, f (l)i) Represents Ts(l),Tc(l),vs(l) And B (l).
a0、a1…anThe coefficient to be determined for the newton interpolation polynomial may be determined as follows:
the variation of the friction model parameters with position l is obtained from the data in tables 3 and 4, and the X1 axis friction model is:
the X2 axis friction model obtained by the same method is:
the obtained friction model is converted into a friction compensation block diagram through matlab software, as shown in fig. 5.
S400, according to the mechanical transfer function and the double-shaft friction model function, friction compensation is carried out on double shafts in the moving process of the moving part.
Wherein, the step S400 specifically includes:
according to the mechanical transfer function and the double-shaft friction model function, a double-ring double-motor synchronous control strategy is obtained by adopting a cross coupling control method;
and performing friction compensation on the double shafts according to the double-ring double-motor synchronous control strategy.
The step of performing friction compensation on the double shafts according to the double-ring double-motor synchronous control strategy to realize the synchronization of the double motors specifically comprises the following steps:
when a moving part position instruction value and a beam moving position instruction value are input, the double-ring double-motor synchronous control strategy is led into a numerical control system, friction compensation is carried out, and actual displacement of a double shaft is accurately controlled in real time, wherein the input of the numerical control system is an ideal displacement value, and the output is an actual motor displacement value.
Specifically, the embodiment of the invention adopts the concept of cross-coupling control to control the output displacements of the X1 and X2 axes in real time, and the cross-coupling control is shown in FIG. 6. The cross coupling synchronous control considers the two-way coupling relation between the shafts, and coordinates and compensates the position deviation of the double shafts by establishing a cross coupling controller so as to achieve the purposes of eliminating errors and improving the synchronous precision. A double-motor synchronous control method based on time-varying friction compensation is obtained by combining a double-shaft friction compensation model and a double-drive feeding system mechanical model based on the principle of cross coupling control. The control block diagram is shown in fig. 7.
In one embodiment, the numerical control machine tool is provided with a controller, a driver and a motor; the controller controls the driver, the driver drives the motor to move, and the motor drives the actuating mechanism to complete the movement of the moving part; the controller is an industrial PC or an upper computer, and the system is controlled by adopting a Beifu numerical control system and TwinCAT3 software. The TwinCAT embeds a real-time core in the Windows environment, can change an industrial personal computer into a real-time system with a PLC function, and utilizes the hardware of PC standard configuration to implement logic operation (TwinCAT PLC) function and motion control (TwinCAT NC) function, and adopts PLC program to make logic control, for example over-travel control, and utilizes matlab/simulink to create double-motor synchronous control simulink model with time-varying friction compensation, the Simulink control model is converted into a real-time TcCOM module with an input/output interface through a TE1400 module, the generated TcCOM module is led into a numerical control system and connected with corresponding input/output, the input is the beam displacement, the speed and the moving part position, the output is the actual displacement of the X1 and X2 axes of the double-drive feeding system, the displacement output by the two shafts is fed back in real time through grating rulers arranged on two sides of the two shafts, and the displacement is adjusted in real time, so that the synchronous control of the two shafts is completed.
The double-drive feeding system designed based on the gravity center driving principle is widely applied to high-precision numerical control equipment, but the double-drive synchronous control precision is influenced by the reduction of double-drive synchronous performance caused by the change of a double-drive structure. The invention provides a double-motor synchronous control method based on time-varying friction compensation, aiming at the influence of the change of a double-drive structure on double-drive synchronous control. The synchronous control method analyzes and compensates the influence on the dynamics of the double-drive feeding system when the moving part on the beam moves and the influence on the two shafts by the friction force. Setting a gantry beam to reciprocate at a certain speed, measuring the synchronous error and the tracking error of a double shaft, and comparing by using a cross-coupling synchronous control strategy. As shown in fig. 8 and 9, the compensation experiment result shows that the proposed dual-motor control method not only reduces the synchronization error of two shafts, but also reduces the tracking error of two shafts and the error during commutation, and the effect is more obvious than that of the conventional method-cross coupling synchronization control method, the synchronization performance of the dual-drive feeding system is effectively improved, and the control effect is ideal.
S500, measuring the double-shaft displacement error by adopting a double-shaft two-side displacement detection device, inputting the detected double-shaft error into a cross coupling controller, and distributing the double-shaft error to the double shafts respectively through a cross coupling control algorithm to complete synchronous control.
Specifically, the invention also adopts a displacement detection device (such as a grating ruler) to detect the displacement of the beam in real time to form position loop full feedback, and the servo motor encoder performs semi-closed loop feedback to realize closed loop double-loop real-time feedback control and improve single-axis tracking precision, thereby improving double-drive synchronization performance.
The technical scheme of the invention is essentially a double-motor synchronous control method for self-adapting double-drive structure change, the method considers the variable transmission stiffness of a double-drive feeding system, combines a mechanical transfer function of the double-drive feeding system, analyzes the influence of double-drive mechanics, and improves the control precision of the method.
As shown in fig. 10, based on the above dual-motor synchronous control method based on time-varying friction compensation, the present invention further provides a dual-motor synchronous control device based on time-varying friction compensation, where the dual-motor synchronous control device based on time-varying friction compensation may be a computing device such as a mobile terminal, a desktop computer, a notebook computer, a palmtop computer, and a server. The dual-motor synchronous control device based on time-varying friction compensation includes a processor 10, a memory 20, and a display 30. Fig. 10 shows only some of the components of a dual-motor synchronous control device based on time-varying friction compensation, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
The memory 20 may in some embodiments be an internal storage unit of the dual-motor synchronous control device based on time-varying friction compensation, such as a hard disk or a memory of the dual-motor synchronous control device based on time-varying friction compensation. The memory 20 may also be an external storage device of the dual-motor synchronous control device based on time varying friction compensation in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the dual-motor synchronous control device based on time varying friction compensation. Further, the memory 20 may also include both an internal storage unit of the dual motor synchronous control device based on time-varying friction compensation and an external storage device. The memory 20 is used for storing application software installed in the dual-motor synchronous control device based on time-varying friction compensation and various types of data, such as program codes of the dual-motor synchronous control device based on time-varying friction compensation. The memory 20 may also be used to temporarily store data that has been output or is to be output. In an embodiment, the memory 20 stores a time-varying friction compensation based dual-motor synchronous control program 40, and the time-varying friction compensation based dual-motor synchronous control program 40 may be executed by the processor 10, so as to implement the time-varying friction compensation based dual-motor synchronous control method according to the embodiments of the present application.
The processor 10 may be a Central Processing Unit (CPU), a microprocessor or other data Processing chip in some embodiments, and is used to run program codes stored in the memory 20 or process data, for example, execute the time-varying friction compensation based dual-motor synchronous control method.
The display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch panel, or the like in some embodiments. The display 30 is used for displaying information at the time-varying friction compensation based dual-motor synchronous control device and for displaying a visualized user interface. The components 10-30 of the two-motor synchronous control device based on time-varying friction compensation communicate with each other via a system bus.
In an embodiment, when the processor 10 executes the dual-motor synchronous control program 40 based on time-varying friction compensation in the memory 20, the dual-motor synchronous control method based on time-varying friction compensation according to the above embodiment is implemented, and since the above description has been made in detail for the dual-motor synchronous control method based on time-varying friction compensation, it is not repeated herein.
In summary, according to the structural characteristics of the dual-drive feeding system, the dual-drive feeding system dynamic model is established by analyzing the influence of different positions of the moving part on the double shafts and considering the change of the rigidity of the key joint part, and the transfer function of the mechanical system of the dual-drive feeding system is obtained according to the established dynamic model; friction model parameters of the moving part at different positions are obtained through a friction identification experiment, the functional relation of the different positions of the moving part to the friction model parameters is obtained according to the friction model parameters at the different positions, and a friction model transfer block diagram is established according to the friction model; based on the cross coupling control idea, a time-varying friction compensation based dual-motor synchronous control method is established by combining a mechanical system transfer function and a friction compensation model, and the dual-drive synchronization performance of the dual-drive feeding system is improved.
Of course, it will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program instructing relevant hardware (such as a processor, a controller, etc.), and the program may be stored in a computer readable storage medium, and when executed, the program may include the processes of the above method embodiments. The storage medium may be a memory, a magnetic disk, an optical disk, etc.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A double-motor synchronous control method based on time-varying friction compensation is characterized by comprising the following steps:
establishing a dynamic equation of the dual-drive feeding system by adopting a Newton second law, and carrying out Laplace transformation on the dynamic equation to obtain a mechanical transfer function of the dual-drive feeding system;
establishing a biaxial Stribeck friction model, and performing parameter identification on the Stribeck friction model to establish friction models of moving parts in a dual-drive feeding system at different positions;
solving the friction model of the moving part at different positions by adopting a Newton interpolation method to obtain a double-shaft friction model function of a double shaft at any position and any speed of the moving part;
according to the mechanical transfer function and the double-shaft friction model function, carrying out friction compensation on double shafts in the moving process of the moving part;
measuring a double-shaft displacement error by adopting a double-shaft two-side displacement detection device, inputting the detected double-shaft error into a cross coupling controller, and distributing the double-shaft error to double shafts respectively through a cross coupling control algorithm to complete synchronous control;
the kinetic equation of the double-drive feeding system is as follows:
wherein, Fd1And Fd2Driving forces of X1 and X2 axes, respectively, f1And f2The friction force f on the X1 and X2 axes respectively1And f2Function representing position of moving part and feed speed, m1And m2Masses of the beam and of the moving part, O, respectivelycIs the center of mass of the combined body, JcTo the combined body wind OcMoment of inertia of l1Is the center of mass OcDistance to X1 Axis l2Is the center of mass OcDistance to X2 axis, XcIs OcTheta is a deflection angle generated by the rotation around the Z axis due to the asynchronous double axes in the movement of the cross beam;
the mechanical transfer function of the double-drive feeding system is as follows:
wherein k ise1And ke2Axial stiffness for the X1 and X2 axes, X1And x2Respectively, a biaxial actual displacement, X1And X2Denotes x1And x2Laplace transform, XordIndicating the motor output displacement, l being the position of the moving part from the axis X1, c1And c2The coefficients of friction of the X1 axis and the X2 axis are respectively.
2. The dual-motor synchronous control method based on time-varying friction compensation according to claim 1, wherein the Stribeck friction model is:
in the formula FfAs friction force, FcIs coulomb friction force, FsAt maximum static friction, vsIs the Stribeck speed.
3. The dual-motor synchronous control method based on time-varying friction compensation according to claim 2, wherein the step of performing parameter identification on the Stribeck friction model specifically comprises:
the method comprises the steps of obtaining friction torques of different structures at different speeds, adopting a least square method to determine initial values of parameters to be identified in the Stribeck friction model, and adopting a genetic algorithm to fit the initial values of the parameters so as to identify the parameters in the Stribeck friction model.
4. The dual-motor synchronous control method based on time-varying friction compensation according to claim 3, wherein the dual-axis friction model functions of the dual-axis at any position and any speed of the moving part are respectively as follows:
wherein, Ts1(l)、Tc1(l)、vs1(l) And B1(l) Friction model parameter, T, of friction model function for X1 axiss2(l)、Tc2(l)、vs2(l) And B2(l) Friction model parameters of the friction model function for the X2 axis.
5. The dual-motor synchronous control method based on time-varying friction compensation as claimed in claim 1, wherein the step of performing friction compensation on the dual axes during the moving process of the moving component according to the mechanical transfer function and the dual-axis friction model function is specifically as follows:
according to the mechanical transfer function and the double-shaft friction model function, a double-ring double-motor synchronous control strategy is obtained by adopting a cross coupling control method;
and performing friction compensation on the double shafts according to the double-ring double-motor synchronous control strategy.
6. The double-motor synchronous control method based on time-varying friction compensation according to claim 5, wherein the step of performing friction compensation on the double shafts according to the double-ring double-motor synchronous control strategy specifically comprises:
when a moving part position instruction value and a beam moving position instruction value are input, the double-ring double-motor synchronous control strategy is led into a numerical control system, friction compensation is carried out, and double-shaft actual displacement is controlled in real time, wherein the input of the numerical control system is an ideal displacement value, and the output is an actual motor displacement value.
7. A dual-motor synchronous control device based on time-varying friction compensation is characterized by comprising: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps in the dual-motor synchronous control method based on time-varying friction compensation as recited in any one of claims 1-6.
8. A computer-readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the steps in the time-varying friction compensation based dual-motor synchronous control method according to any one of claims 1-6.
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