阅读说明：本技术 一种履带导轨驱动微量进给伺服系统及同步控制方法 (track guide rail driving micro-feeding servo system and synchronous control method ) 是由 于翰文 高胜学 郭安福 李恒帅 王翀 汤传国 于 2019-09-16 设计创作，主要内容包括：本公开提出了一种履带导轨驱动微量进给伺服系统及同步控制方法,包括：工作台伺服电机A及履带导轨伺服电机B；其中,所述工作台伺服电机A带动滚珠丝杠并驱动工作台直线运动,所述履带导轨伺服电机B带动履带式导轨运动,两者运动瞬时速度大小相等,方向相同,保证工作台与履带导轨实现瞬时同步。从根本上消除直线运动的爬行。这种新型进给伺服系统表现出来的优异特性,用于当今数控装备制造业,可以极低的制造成本,获得极高的机床精度和性能。(the utility model provides a track guide rail drive microfeed servo system and synchronous control method, including: a workbench servo motor A and a track guide rail servo motor B; the workbench servo motor A drives the ball screw and drives the workbench to move linearly, the track guide rail servo motor B drives the track guide rail to move, the moving instantaneous speeds of the two are equal in size and same in direction, and instantaneous synchronization of the workbench and the track guide rail is guaranteed. The creeping of the linear motion is fundamentally eliminated. The novel feeding servo system has excellent characteristics, is used for the manufacturing industry of the current numerical control equipment, and can obtain extremely high machine tool precision and performance at extremely low manufacturing cost.)

1. A track guide rail driving micro-feeding servo system is characterized by comprising: a workbench servo motor A and a track guide rail servo motor B;

the workbench servo motor A drives the ball screw and drives the workbench to move linearly, the track guide rail servo motor B drives the track guide rail to move, the moving instantaneous speeds of the two are equal in size and same in direction, and instantaneous synchronization of the workbench and the track guide rail is guaranteed.

2. The track-guided micro-feed servo system of claim 1, wherein the table servomotor a is coupled to the ball screw through a coupling, and rotates the ball screw to move the table, and the speed of the table-coupled slider relative to the track-guided track is zero.

3. The track rail driving micro-feeding servo system as claimed in claim 1, wherein the track rail servo motor B is connected to the track rail through a timing cog belt, and drives the track rail to move at the same speed as the table through a timing cog belt wheel.

4. A track-guided-drive-micro-feed servo system as claimed in claim 1, wherein said ball screw is mounted in a "fixed-free" bearing arrangement, namely: one end of the ball screw is fixed by a screw fixed end mounting seat, and one end, far away from the workbench servo motor A, of the ball screw is freely supported by a screw supporting end mounting seat.

5. The track rail driving micro-feeding servo system as claimed in claim 4, wherein a pair of angular contact ball bearings are arranged in the lead screw fixing end mounting base to perform radial and axial constraint positioning on the ball screw;

A deep groove ball bearing is arranged in the screw rod supporting end mounting seat, only radial constraint positioning is carried out, axial free movement is carried out, and thermal extension of the screw rod is offset.

6. The track-rail driving micro-feeding servo system as claimed in claim 1, wherein the worktable servo motor a and the track-rail servo motor B are three-phase asynchronous ac motors respectively connected to their corresponding speed/position/current detectors for sensing the rotational speed/position/current information of the motors and feeding back to their respective servo control systems.

7. The track rail driving micro-feed servo system as claimed in claim 1, wherein the motion controller gives a command for a down-motion to the two servo driving systems according to a given motion request of the table, and the micro-feed control of the table is realized by combining two rotational motions of the ball screw and the track rail.

8. The track-guided micro-feeding servo system of claim 6, wherein each of the two servo drive systems comprises a speed control circuit, a position control circuit, a current control circuit, and a comparator, and the motors are controlled according to the received speed, position, and current information.

9. A synchronous control method of a caterpillar track guide rail driving micro-feeding servo system is characterized by comprising the following steps:

According to the given movement requirement of the workbench, instructions of the movement of the two servo motors are sent to the two servo driving systems, and the micro-feeding control of the workbench is realized through the synthesis of the two rotary movements of the ball screw and the track guide rail;

Wherein, the servo motor A of the control workbench drives the ball screw and drives the workbench to move linearly;

And controlling a track guide rail servo motor B to drive the track guide rail to move, wherein the instantaneous speeds and directions of the two movements are equal, and the instantaneous synchronization of the workbench and the track guide rail is realized.

10. the method as claimed in claim 9, wherein the step of controlling the servo motor comprises subtracting the displacement measurements of the table and the track rail, deriving the differences, optimizing the differential displacement and differential velocity, and the theoretical displacement and velocity signals by an H ∞ algorithm, and finally controlling the servo motor by the optimized output signal.

Technical Field

The disclosure relates to the technical field of machinery, in particular to a caterpillar track driving micro-feeding servo system and a synchronous control method.

Background

How to make the worktable or the cutter obtain accurate, stable and reliable micro-displacement in the processing process is one of the key technical bottlenecks for realizing ultra-precision processing. For most precision and ultra-precision processing machines, a high-performance linear motion system is necessary and critical, and although a static reverse clearance can be reduced or even eliminated by adopting a proper pre-tightening method, the nonlinear motion caused by uncertain factors such as friction force and the like cannot be eliminated, and the friction nonlinear effect caused by the linear motion is much larger than that caused by a rotating component, so that the linear motion of a workbench relative to a guide rail in a numerical control machine tool becomes a main factor for limiting the improvement of the feeding precision.

The inventor finds that a fixed linear guide rail is mostly adopted in a traditional numerical control machine tool in research, when the workbench is fed in a micro-amount manner, the moving speed relative to the guide rail is very low, the workbench creeps, and positioning accuracy and machining performance are affected, so that how to realize fundamentally restraining and eliminating creeps is a problem to be solved urgently in the field of ultra-precision machining.

disclosure of Invention

The purpose of the embodiment of the specification is to provide a caterpillar track guide rail driving micro-feeding servo system, which enables a workbench and a movable guide rail to be relatively static, eliminates the influence of friction nonlinearity during low-speed feeding, enables the system to have a lower stable speed limit and realizes accurate micro-feeding control.

The embodiment of the specification provides a caterpillar track driving micro-feeding servo system, which is realized by the following technical scheme:

the method comprises the following steps: a workbench servo motor A and a track guide rail servo motor B;

The workbench servo motor A drives the ball screw and drives the workbench to move linearly, the track guide rail servo motor B drives the track guide rail to move, the moving instantaneous speeds of the two are equal in size and same in direction, and instantaneous synchronization of the workbench and the track guide rail is guaranteed.

According to the technical scheme, the workbench servo motor A is connected with the ball screw through the coupler, the ball screw is driven to rotate to drive the workbench to move, and the speed of the sliding block connected with the workbench relative to the track guide rail is zero.

according to the further technical scheme, the track guide rail servo motor B is connected with the track guide rail through a synchronous toothed belt, and the track guide rail is driven to move at the same speed as the workbench through the synchronous toothed belt wheel.

in a further technical scheme, the ball screw adopts a fixed-free bearing installation mode, namely: one end of the ball screw is fixed by a screw fixed end mounting seat, and one end, far away from the workbench servo motor A, of the ball screw is freely supported by a screw supporting end mounting seat.

According to the further technical scheme, a pair of angular contact ball bearings are arranged in the lead screw fixed end mounting seat, and the ball screw is radially and axially constrained and positioned;

A deep groove ball bearing is arranged in the screw rod supporting end mounting seat, only radial constraint positioning is carried out, axial free movement is carried out, and thermal extension of the screw rod is offset.

according to a further technical scheme, the workbench servo motor A and the track guide rail servo motor B respectively adopt three-phase asynchronous alternating current motors, and the three-phase asynchronous alternating current motors are respectively connected with corresponding speed/position/current detectors and used for sensing the rotation speed/position/current information of the motors and feeding the information back to respective servo control systems.

according to the further technical scheme, the motion controller gives a command of downward motion to the two servo driving systems according to the given motion requirement of the workbench, and the micro-feeding control of the workbench is realized through the synthesis of the two rotary motions of the ball screw and the track guide rail.

According to a further technical scheme, the two servo driving systems comprise a speed control circuit, a position control circuit, a current control circuit and a comparator, and the motors are controlled according to received speed, position and current information.

the embodiment of the specification provides a synchronous control method of a caterpillar track driving micro-feeding servo system, which is realized by the following technical scheme:

The method comprises the following steps:

according to the given movement requirement of the workbench, instructions of the movement of the two servo motors are sent to the two servo driving systems, and the micro-feeding control of the workbench is realized through the synthesis of the two rotary movements of the ball screw and the track guide rail;

Wherein, the servo motor A of the control workbench drives the ball screw and drives the workbench to move linearly;

And controlling a track guide rail servo motor B to drive the track guide rail to move, wherein the instantaneous speeds and directions of the two movements are equal, and the instantaneous synchronization of the workbench and the track guide rail is realized.

During specific control, the displacement detection quantities of the workbench and the track guide rail are differentiated, then derivation is carried out, differential displacement and differential speed obtained by differentiating, theoretical displacement and speed signals are optimized by adopting an H-infinity algorithm, and finally the optimized output signals are used for controlling the servo motor.

Compared with the prior art, the beneficial effect of this disclosure is:

According to the novel crawler-type guide rail motion control system, two quasi-equal (the instantaneous speed is equal in size and the direction is the same) macroscopic motions of ' a servo motor drives a ball screw to drive a workbench to move linearly ' and a servo motor drives a novel crawler-type guide rail to move ' are superposed, so that the influence of unavoidable low-speed nonlinear crawling phenomenon caused by the inherent properties of the structure of the traditional electromechanical uniform system is avoided, high-precision micro-feeding control is realized, and crawling of linear motion is fundamentally eliminated. The novel feeding servo system has excellent characteristics, is used for the manufacturing industry of the current numerical control equipment, and can obtain extremely high machine tool precision and performance at extremely low manufacturing cost.

aiming at the provided track guide rail servo feeding system, the study on the micro-feeding characteristic has great significance and wide application prospect for developing high-end numerical control equipment and ultra-precise top-end science and technology.

drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

FIG. 1 is a comprehensive test platform for dynamic performance of a novel track guide rail driven micro-feeding servo system;

FIG. 2 is a structural diagram of a novel track guide rail driven micro-feeding servo system;

FIG. 3 is a view of the novel track single drive system;

FIG. 4 is a block diagram of a lead screw single drive feed system;

FIG. 5 is a block diagram of an open loop transfer function of a novel track rail driven micro-feed servo system;

FIG. 6 is a full closed loop synchronous coupling control structure diagram of the novel track guide rail driven micro-feeding servo system;

in the figure: 1-a frame, 2-a workbench servo motor A, 3-a coupler, 4-a lead screw fixed end mounting base, 5-a ball screw, 6-a nut, 7-a nut base, 8-a workbench, 9-a lead screw supporting end mounting base, 10-a track guide rail transmission belt wheel, 11-a track guide rail, 12-a slide block and 13-a track guide rail servo motor B.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

it is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.