伺服电动缸传动系统刚度建模与前馈控制

doi:10.13229/j.cnki.jdxbgxb20191061

Abstract

Abstract:

Under the requirement of precise control， the servo electric cylinder needs to ensure a high positioning accuracy. However， under heavy load， the servo electric cylinder will have a large elastic deformation， which seriously affects its positioning accuracy. To solve this problem， first， the mechanical stiffness model of the servo electric cylinder transmission system is established， which is verified through experiments. Then， a feedforward control algorithm based on the stiffness model is added. The research results show that the established mechanical stiffness model of the established servo electric cylinder transmission system is effective.. The addition of the feedforward control algorithm can significantly improve the positioning accuracy of the servo electric cylinder.

Key words: mechanical engineering, servo motor cylinder, positioning accuracy, stiffness model, feedforward control

CLC Number:

TH39

Fu-gang ZHAI,Yan-bin YIN,Chao LI,Wei TIAN,Zi-shi QIAO. Stiffness modeling and feedforward control of servo electric cylinder drive system[J].Journal of Jilin University(Engineering and Technology Edition), 2021, 51(2): 442-449.

Figures/Tables 19

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Table 1

Basic parameters of servo electric cylinder"

名称	参数及数值
丝杠公称直径/mm	$d 0 = 63$
滚珠个数	$z n = 90$
滚珠直径/mm	$d b = 12.7$
公称接触角/(°)	$α = 45$
螺旋升角/(°)	$λ = 4.622$
导程/mm	$P h = 16$
弹性模量/Pa	$E = 2.19 × 1011$
额定动载荷/kN	$C a = 248.5$
有效圈数	$i b = 5.75$
滚道曲率比	$t b = 1.04$
螺纹小径/mm	$d 2 = 50$
轴承滚珠直径/mm	$d = 40$
轴承滚珠个数	$z = 7$
轴承接触角/(°)	$α 1 = 55$
同步带模量/Pa	$E 1 = 8 × 1010$
同步带宽度/mm	$b = 52.5$
同步带带高/mm	$h s = 10$
同步带齿高/mm	$h t = 6.02$
紧边拉力/N	$F = 3536.68$
同步带预紧力/N	$F 02 = 3000$

Table 1

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Table 2

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Table 3

References 11

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负载力/kN	位置误差值
40	0.096
60	0.149
80	0.198
100	0.248

数据采集情况	位置误差值
未加入前馈控制	0.258
实验	0.248
加入前馈控制	0.005

Stiffness modeling and feedforward control of servo electric cylinder drive system

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