Error Precompensation Algorithm and Experiment for Dual-drive Synchronous Control System
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摘要: 针对双驱进给系统的同步控制，设计了一种新的补偿算法。首先，根据双丝杠工作台的结合部刚度，建立滚珠丝杠运动系统的动力学模型。然后在不同进给速度和工作台位置下，对双驱进给的同步误差进行检测，得到同步误差的多元线性回归模型，利用动力学模型与多元线性回归模型可综合得出双驱同步控制的误差预补偿模型。采用自主研发的双驱进给试验平台进行双驱进给的补偿试验，对比传统的虚拟主轴同步控制策略、主从同步控制策略与本文所提出的误差预补偿控制策略，对双驱进给的速度跟随精度与位置同步精度进行对比分析，试验结果表明，双驱同步控制的误差预补偿策略具有同步精度更高，稳定性更好的优点。Abstract: For the synchronous control problems in dual-drive feeding system, a new error compensation algorithm was designed in this paper. First, a dynamical model of double-nut ball screw system was established according to the joint stiffness of twin-screw. Then detection results of dual-drive feed synchronization error at different feed rates and displacements were used to get multiple linear regression models of dual-drive synchronization error, and further establishing dual-drive synchronous control error pre-compensation model by dynamic model and multiple linear regression models. Dual-drive feed experiments were made by self-developed dual-drive experimental platform. The impacts on dual-drive speed accuracy and synchronization accuracy of the traditional virtual spindle synchronization control method, master-slave synchronization control method and dual-drive synchronous control method with error pre-compensation were compared. Results show that the dual-drive synchronous feeding control method with error pre-compensation has the advantages of high synchronization, high running precision and good stability.
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表 1 双滚珠丝杠位置差
工作台位置/mm 双驱进给速度/(mm·s-1) 10 20 30 40 50 60 70 80 90 100 10 0.085 0.089 0.085 0.095 0.087 0.083 0.098 0.090 0.091 0.094 20 0.090 0.091 0.093 0.089 0.092 0.095 0.096 0.095 0.099 0.092 30 0.091 0.085 0.092 0.092 0.089 0.088 0.090 0.094 0.096 0.090 40 0.084 0.084 0.087 0.098 0.093 0.096 0.083 0.098 0.089 0.100 50 0.090 0.076 0.093 0.104 0.092 0.089 0.091 0.086 0.094 0.096 60 0.092 0.079 0.098 0.096 0.089 0.094 0.103 0.104 0.097 0.098 70 0.086 0.075 0.086 0.085 0.098 0.097 0.094 0.098 0.094 0.093 80 0.093 0.089 0.093 0.097 0.097 0.095 0.092 0.096 0.099 0.096 90 0.087 0.090 0.094 0.093 0.094 0.095 0.104 0.099 0.104 0.105 100 0.083 0.094 0.093 0.093 0.098 0.097 0.099 0.093 0.096 0.098 110 0.095 0.105 0.099 0.099 0.106 0.103 0.123 0.102 0.107 0.106 120 0.105 0.098 0.094 0.096 0.094 0.099 0.121 0.103 0.094 0.094 130 0.100 0.086 0.096 0.098 0.099 0.102 0.098 0.098 0.116 0.099 140 0.091 0.081 0.103 0.101 0.100 0.096 0.099 0.115 0.105 0.129 150 0.103 0.089 0.097 0.099 0.095 0.105 0.118 0.101 0.098 0.099 160 0.091 0.099 0.097 0.103 0.118 0.098 0.109 0.122 0.132 0.103 170 0.105 0.091 0.109 0.098 0.097 0.116 0.130 0.098 0.117 0.121 180 0.095 0.120 0.099 0.102 0.107 0.103 0.098 0.104 0.098 0.156 190 0.085 0.098 0.112 0.115 0.098 0.096 0.114 0.120 0.126 0.134 200 0.090 0.103 0.100 0.097 0.105 0.121 0.122 0.147 0.141 0.137 
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表 2 3种同步控制策略实验结果
控制方式 同步误差/mm 实际位移/mm 速度方差 虚拟主轴 0.045 39.498 1.117 主从同步 0.041 39.403 0.919 误差预补偿 0.019 39.882 0.376
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