动梁式龙门机床双驱动态不同步误差补偿研究

中国机械工程 ›› 2012, Vol. 23 ›› Issue (8): 915-919.

动梁式龙门机床双驱动态不同步误差补偿研究

程瑶1;赵万华1;李玉霞1;杨清宇2

1.西安交通大学机械制造系统工程国家重点实验室,西安,710049
2.西安交通大学电信与信息工程学院,西安,710049

出版日期:2012-04-25 发布日期:2012-05-10
基金资助:
国家科技重大专项(2009ZX04009-015);国家重点基础研究发展计划（973计划）资助项目(2009CB724407)
National Science and Technology Major Project ( No. 2009ZX04009-015);
National Program on Key Basic Research Project (973 Program)（No. 2009CB724407）

Research on Compensation of Dynamic Non-synchronous Errors of Dual-drive System in Gantry-type Machine Tools

Cheng Yao1;Zhao Wanhua1;Li Yuxia1;Yang Qingyu2

1.State key laboratory for manufacturing systems engineering,Xi'an Jiaotong University,Xi'an,710049
2.School of electronic and information Engineering,Xi'an Jiaotong University,Xi'an,710049

Online:2012-04-25 Published:2012-05-10
Supported by:

National Science and Technology Major Project ( No. 2009ZX04009-015);
National Program on Key Basic Research Project (973 Program)（No. 2009CB724407）

摘要/Abstract

摘要：

针对动梁式龙门机床双驱动系统广泛存在的双驱不同步问题,测量并设计补偿控制器以补偿双驱动态不同步误差。首先规划了S形加减速曲线输入，利用光栅尺反馈测量出系统的不同步误差。然后设计了动态不同步误差补偿控制器,采用PID控制算法,实现了对双驱两同步轴动态不同步误差的补偿,其中PID控制算法的参数通过稳定边界法确定。最后，在DK-1200动梁式龙门数控机床上进行了实验，实验结果验证了该补偿控制器的有效性。


关键词: 双驱动, 动态不同步误差, PID补偿, 稳定边界法

Abstract:

In order to solve the problem of dynamic non-synchronous widely existing in dual drive machine tools,the non-synchronous errors were measured and a compensation controller
was designed.First, a kind of S accelerate/decelerate curve was deduced,the dynamic
non-synchronous errors were detected using linear scale.Second,PID compensation
controller was designed to compensate the non-synchronous errors and the parameters of PID controller were obtained by means of Z-N method.Finally,some experiments were carried out on DK-1200 gantry-type machine tools with travelling bridge.The results show that PID controller has a satisfactory performance.

Key words: dual drive, dynamic non- synchronous error, PID compensation controller, Z-N method

中图分类号:

TH39

程瑶1, 赵万华1, 李玉霞1, 杨清宇2. 动梁式龙门机床双驱动态不同步误差补偿研究[J]. 中国机械工程, 2012, 23(8): 915-919.

CHENG Yao-1, DIAO Mo-Hua-1, LI Yu-Xia-1, YANG Qing-Yu-2. Research on Compensation of Dynamic Non-synchronous Errors of Dual-drive System in Gantry-type Machine Tools[J]. China Mechanical Engineering, 2012, 23(8): 915-919.

[1]	黄俊, 袁军堂, 汪振华. 基于NSGA_Ⅱ算法的双驱动进给系统结构优化[J]. 中国机械工程, 2016, 27(24): 3294-3300.
[2]	李萍, 朱国力, 龚时华, 岳岚. 基于干扰观测器的龙门机床双驱系统的同步控制[J]. 中国机械工程, 2016, 27(19): 2630-2636.
[3]	陈宇航, 赵铁石, 耿明超, 苑飞虎, 李二伟, . 闭环双驱动混合输出六自由度并联机构运动分析[J]. 中国机械工程, 2015, 26(20): 2793-2800,2805.
[4]	马玉, 谷立臣. 限幅模糊与带阈值设置PID补偿的变转速液压源流量控制方法研究[J]. 中国机械工程, 2015, 26(16): 2197-2202.
[5]	范彩霞1, 2, 刘宏昭1. 基于李群理论的双驱动2T3R五自由度并联机构型综合[J]. 中国机械工程, 2012, 23(17): 2053-2057.