| 摩擦补偿脉冲特征参数的自适应配置方法 |
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| 引用本文： | 冯斌,梅雪松,杨军,黄晓勇.摩擦补偿脉冲特征参数的自适应配置方法[J].上海交通大学学报,2014,48(5):713-718. |
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| 作者姓名： | 冯斌 梅雪松 杨军 黄晓勇 |
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| 作者单位： | （西安交通大学a.机械工程学院； b.机械制造系统工程国家重点实验室，西安 710049） |
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| 基金项目： | 国家科技重大专项(2012ZX04005-011)资助项目 |
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| 摘 要： | 提出了一种摩擦补偿脉冲特征参数的自适应配置方法.依据运动轨迹参数、摩擦力矩、摩擦补偿效果最优值、相关动态特性信息以及伺服控制参数,通过动态迭代过程,精确计算出摩擦补偿脉冲特征参数,并在精密运动平台上进行了摩擦补偿脉冲特征参数的自适应配置实验.结果表明,在不同的工况及运动轨迹条件下,所提出的方法均能够达到较好的摩擦补偿效果,且其误差峰值偏差均小于1μm.
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| 关 键 词： | 摩擦补偿脉冲 伺服进给系统 精密运动平台 运动误差 |
| 收稿时间： | 2013-08-02 |
Adaptive Configuration Method of Friction Compensation Pulse Characteristic Parameters |
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| FENG Bin;MEI Xue-song;YANG Jun;HUANG Xiao-yong.Adaptive Configuration Method of Friction Compensation Pulse Characteristic Parameters[J].Journal of Shanghai Jiaotong University,2014,48(5):713-718. |
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| Authors: | FENG Bin;MEI Xue-song;YANG Jun;HUANG Xiao-yong |
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| Institution: | (a. School of Mechanical Engineering; b. State Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, China） |
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| Abstract: | A novel adaptive configuration method of friction compensation pulse characteristic parameters was proposed. The friction compensation pulse characteristic parameters were accurately calculated by the dynamic iterative process based on trajectory parameters, friction torque, the desired performance value, dynamic information and servo control parameters. This method was adopted to compensate for the friction error on the precision motion worktable. The experiment results show that the proposed method has a better performance and the deviation peak of tracking error is less than 1 μm under different working conditions and trajectories. |
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| Keywords: | friction compensation pulse servo feed system precision motion worktable motion error |
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