CAJ | 학술논문

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。
건립료일충고필마찰영향적PID공제하적고속、고정도진급사복공작태적수학모형。사복궤구중적마찰력시채용일충“량유혼합마찰모형”래묘술적。해모형가이근거활동속도、표면접촉물체적유막후도등계산마찰력。통과수치방진여실제측량，재대범위적공황하，연구료원운동과상한시출현철기적오차현상。통과계산여시험결과적비교，증명료제출적고필마찰영향적수학모형능구정학지모의PID공제하적고속、고정도진급사복공작태적동역학과정，능구정학지예측진급운동과정중마찰오차대소급특정。
With consideration of friction influence, a mathematics model is established for a high-speed high-precision feed servo table under PID control. A two-component mixed friction model is used to express the friction force in servo mechanisms. The friction can be calculated according to the sliding speed, the oil film between the two contact surfaces by using the model. Under various work conditions, the protrusion error occurring at the quadrant boundary in the circular motion is profoundly studied through numerical simulation and experiments and the phenomena that the quadrant protrusion error lags with the rising of the feedrate is discovered. Comparisons between simulation results and experimental results demonstrate that with the mathematics model considering the friction effects proposed, the dynamics of high-speed high-precision servo feed systems under PID control can be accurately simulated, the friction error and its characteristics in the course of the feeding can be precisely predicted.