双驱进给系统的误差传递耦合特性及主动同步控制技术研究

Feed system plays a key role in determining the working performance of modern manufacturing equipment, while the dual-driving feed system is the essential scheme to improve feeding precision and stability for the system. This research provides a double-loop controlling method for dual-driving feed system which aims to break through the bottleneck problem of low robustness and poor dynamic synchronous performance in master-slave and cross coupling synchronous control that is unfortunately existed at present. With the research on the characterization of stiffness field and the analysis on transfer coupling mechanism and test results in dual-driving feed system, the dynamic comprehensive error predicting model will be established and the error parameter identification will be accomplished. Then, by analyzing the mapping of the system’s synchronous error and stiffness field characterization in dual-driving feed system, a state characteristic-active coupled synchronous control algorithm is going to be investigated, and the error compensation matrix will be solved by iteration. A double loop active synchronous control strategy is going to be presented and an active synchronous double loop feedback controller will be designed. Furthermore, based on the precision micro experiment system and test platform which is equipped with coplanar dual-driving workbench, the comprehensive experiment will be carried out to accomplish and test the double loop active synchronous control, in which the outer loop control ensures the absolute position of dual-driving synchronous movement and the inner loop control ensures adaptive position accuracy. A novel active synchronous control model for dual-driving feed system will be presented, which provides theoretical guidance for developing dual-driving feed system with high dynamic performance and synchronization control precision. This research will also build a theoretical foundation and technical reserves to improve weakness and increase competitiveness for the NC manufacturing equipment which adopts the dual-driving feed system in China.

进给系统是数控制造装备的重要部件。双驱进给系统是提高数控装备进给精度和稳定性的关键解决方案。本项目提出一种双驱进给系统的双环式主动同步控制模式，旨在突破目前主从交叉和跟随同步控制鲁棒性低和动态同步性能不佳的瓶颈问题。分析双驱进给系统的刚度场表征方法和误差传递耦合机理，建立双驱进给动态综合误差预测模型并辨识误差参数；解析双驱进给系统同步误差与刚度场表征的映射关系，设计状态表征-主动耦合的同步控制算法，迭代求解误差补偿矩阵；提出一种双环式主动同步控制策略，设计主动同步双环反馈控制器，通过精密微动实验系统及搭载双驱共面工作台的综合实验平台进行试验测试，实现外环控制绝对位置与内环自适应调节位移量的双环式主动同步控制模式。形成双驱进给系统主动同步控制的新技术新方法，对双驱进给系统动态性能和同步控制精度的提高具有理论和指导意义，能为提高国产双驱进给系统和并联多驱精密数控装备的竞争力提供理论和技术基础。

本项目围绕双驱进给系统的误差传递耦合特性及主动同步误差控制技术展开研究，旨在突破目前主从、交叉和跟随同步控制鲁棒性低和动态同步性能不佳的瓶颈问题。采用集中质量和分布参数法进行动力学建模，针对联轴器、丝杠、丝杠螺母构成的柔性传动链，建立柔性运动轴动力学模型，通过模态试验辨识模型参数。对双驱同步进给系统各部件进一步进行动静刚度分析，解析双丝杠进给系统刚度链及传递耦合机理，构建双驱进给系统的刚度场表征模型。运用自主研发的在线检测系统，进行工作台进给位置检测，分析研究双驱进给系统的误差与系统刚性表征的映射关系，建立刚度场表征模型的双驱进给系统动态综合误差预测模型。针对耦合关系及负载扰动引起的双驱非线性系统的不确定耦合特性，提出基于状态表征的主动耦合同步控制算法，进行双驱进给传递单元构成的刚度场表征模型求解，迭代求解获得双驱进给系统的主动误差补偿矩阵，提出一种双环式主动同步控制策略，设计主动同步双环反馈控制器。运用搭载双驱进给系统的直线进给平台，进行主动同步控制方法的综合应用试验。. 本项目的研究揭示了产生双驱进给系统同步误差的敏感参量及其传递耦合特性，探究了双驱进给系统基于柔性运动轴模型的刚度场表征方法，建立了双驱进给传递单元构成的刚度场表征模型。设计了双驱非线性系统的动态综合误差模型和参数辨识方法，形成基于刚度场表征模型的双驱进给系统动态综合误差预测模型及其误差参数辨识方法。提出了一种双环式主动同步控制技术，实现内外环自适应对双轴动态实时稳定同步控制，突破了目前双驱同步控制鲁棒性低和动态同步性能不佳的瓶颈问题。. 本项目的实施形成双驱进给系统的主动同步控制的新技术方法，对双驱系统动态性能和同步控制精度的提高具有理论指导意义，提高国产双驱进给系统部件和并联多驱精密数控装备的竞争力，为提高国产精密机械装备控制精度提供理论和技术支持。