摘要
力矩电机直驱进给系统的刚度特性很大程度上取决于伺服刚度,伺服刚度是影响进给系统的抗干扰能力、动态响应特性、速度和精度的关键因素。该文以力矩电机直驱进给系统为研究对象,提出了一种基于Routh判据的伺服刚度优化方法,给出了控制系统稳定条件下系统各参数间相互约束关系。该优化方法可同时整定多个伺服控制参数以提高伺服刚度。首先基于直驱式力矩电机模型建立了完整的伺服进给系统机电耦合模型;在伺服系统控制参数对伺服刚度影响分析基础上,提出了系统稳定性Routh判据不等式的简化求解方法,建立了系统控制参数间的约束关系,利用Simulink对该方法进行仿真验证;最终提出了以伺服刚度为优化目标的伺服控制参数优化方法。以某五轴联动数控机床A轴力矩电机直驱进给系统为例,进行优化应用验证,结果表明:该优化方法在保持系统稳定性的同时能显著提高系统伺服刚度,并且对伺服系统动态跟踪精度等动态性能影响较小。
The stiffness characteristics of feed systems directly driven by torque motors mainly depend on the servo stiffness. Therefore, the servo stiffness is a key factor affecting the feed system disturbance rejection, dynamics, speed and accuracy. This study analyzes a torque motor direct-drive feed system using a servo stiffness optimization method based on the Routh criterion. The optimization simultaneously sets multiple servo control parameters based on the mutual constraint relationships between the servo control parameters for a stable control system. The analysis uses a complete coupled electromechanical model of the servo feed system based on the direct-drive torque motor model. Then, the influence of the servo system control parameters on the servo stiffness is used to develop a simplified solution method for the system stability Routh criterion inequality and to define the constraint relationships between the system control parameters. The method is verified in Simulink. This research gives a servo control parameter optimization method using the servo stiffness as the optimization objective. The method is then applied to an A-axis direct-drive torque motor feed system in a five-axis computer numerical control(CNC) machine tool to verify the optimization method. The results show that the optimization significantly improves the servo stiffness while maintaining system stability and has little effect on the dynamics of the servo system such as the dynamic tracking accuracy.
作者
陈彦羽
付萌
关立文
常佳豪
刁磊
胡蓝
CHEN Yanyu;FU Meng;GUAN Liwen;CHANG Jiahao;DIAO Lei;HU Lan(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Shanghai Aerospace Equipment Manufacturing General Factory,Shanghai 200245,China)
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2021年第10期1124-1131,共8页
Journal of Tsinghua University(Science and Technology)
基金
国家重大科技专项(2019ZX04025001)
国家自然科学基金项目(51675301)。
关键词
伺服刚度优化
力矩电机直驱进给系统
机电耦合
五轴联动机床
servo stiffness optimization
torque motor direct-drive feed system
electromechanical coupling
five-axis machine tool
