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建立了一种考虑摩擦影响的PID控制下的高速、高精度进给伺服工作台的数学模型。伺服机构中的摩擦力是采用一种“两维混合摩擦模型”来描述的。该模型可以根据滑动速度、表面接触物体的油膜厚度等计算摩擦力。通过数值仿真与实际测量 ,在大范围的工况下 ,研究了圆运动过象限时出现凸起的误差现象。通过计算与试验结果的比较 ,证明了提出的考虑摩擦影响的数学模型能够精确地模拟PID控制下的高速、高精度进给伺服工作台的动力学过程 ,能够正确地预测进给运动过程中摩擦误差大小及特征。
A mathematical model of high-speed and high-precision feed servo table under the control of friction considering friction is established. The friction in a servo mechanism is described using a “two-dimensional hybrid friction model.” The model can be based on sliding speed, surface contact with the object of the film thickness and other friction. Through numerical simulation and actual measurement, under a wide range of working conditions, the phenomenon of convex error occurs when the circular motion passes the quadrant. Through the comparison of calculation and test results, it is proved that the proposed mathematical model considering the influence of friction can accurately simulate the dynamic process of high-speed, high-precision feed servo table under PID control and correctly predict the friction during feed motion Error size and characteristics.