本文選題：雙驅(qū)動(dòng)微量進(jìn)給 + 運(yùn)動(dòng)學(xué)分析　； 參考：《山東大學(xué)》2016年博士論文

【摘要】：實(shí)現(xiàn)超精密加工的關(guān)鍵技術(shù)瓶頸之一是如何在加工過(guò)程中使工具或工件得到準(zhǔn)確、穩(wěn)定可靠的微量位移,即精密定位技術(shù)。精密定位系統(tǒng)對(duì)于精密測(cè)量、精密加工等各種精密設(shè)備都起著至關(guān)重要的作用。由于機(jī)電系統(tǒng)自身固有屬性導(dǎo)致的低速爬行現(xiàn)象的影響,常規(guī)結(jié)構(gòu)形式和工作方式的機(jī)電傳動(dòng)系統(tǒng),因低速非線性蠕動(dòng)爬行現(xiàn)象的影響,很難實(shí)現(xiàn)精確、均勻的微小位移的進(jìn)給控制,不能滿足當(dāng)前高精度制造裝備及加工的迫切需求,因而研究微位移技術(shù)是實(shí)現(xiàn)超精密加工的重要途徑。針對(duì)高精度加工技術(shù)的迫切需求,宏微雙驅(qū)動(dòng)技術(shù)是目前實(shí)現(xiàn)大行程、高精度運(yùn)動(dòng)控制的一種有效策略,具有極高的分辨率、定位精度和動(dòng)態(tài)響應(yīng)速度以及較大的進(jìn)給剛度,但也存在著明顯的缺點(diǎn),如剛度小、非線性、遲滯、蠕變等,尤其是遲滯非線性,使其定位精度大打折扣,因此基于運(yùn)動(dòng)合成原理和現(xiàn)代伺服驅(qū)動(dòng)技術(shù),本文提出了“宏宏雙驅(qū)動(dòng)微量進(jìn)給伺服系統(tǒng)”,通過(guò)“一個(gè)伺服電機(jī)驅(qū)動(dòng)滾珠絲杠”和“一個(gè)伺服電機(jī)驅(qū)動(dòng)滾珠螺母”的兩個(gè)準(zhǔn)相等(瞬時(shí)速度大小近乎相等,轉(zhuǎn)向相同)宏觀運(yùn)動(dòng)疊加,從而避開(kāi)了因傳統(tǒng)機(jī)電伺服系統(tǒng)結(jié)構(gòu)自身固有屬性導(dǎo)致的不可回避的、低速非線性爬行現(xiàn)象的影響,從而實(shí)現(xiàn)高精度微量進(jìn)給。本文基于赫茲接觸理論,滾道接觸控制理論,多體動(dòng)、靜力學(xué)分析,摩擦學(xué)及熱力學(xué)等理論,借助于Pro/E、ABAQUS、MATLAB等分析計(jì)算軟件,構(gòu)建了運(yùn)動(dòng)學(xué)模型、動(dòng)力學(xué)模型以及熱力耦合模型,對(duì)雙驅(qū)動(dòng)微量進(jìn)給機(jī)構(gòu)的動(dòng)態(tài)特性進(jìn)行了研究,主要內(nèi)容包括：(1)利用微分幾何學(xué)原理分析工作滾珠的運(yùn)動(dòng)狀態(tài),計(jì)算接觸點(diǎn)處的摩擦力,建立力和力矩平衡方程式,研究絲杠和螺母在不同轉(zhuǎn)速下對(duì)滾珠運(yùn)動(dòng)學(xué)參數(shù)的影響,以及在不同驅(qū)動(dòng)方式下滾珠運(yùn)動(dòng)狀態(tài)的差別,并計(jì)算雙驅(qū)動(dòng)滾珠絲杠副機(jī)構(gòu)的機(jī)械效率,理論分析的結(jié)果為該微量進(jìn)給機(jī)構(gòu)的設(shè)計(jì)計(jì)算及動(dòng)力學(xué)分析奠定了基礎(chǔ)。(2)利用彈性力學(xué)中的赫茲接觸理論,分析計(jì)算絲杠軸的軸向及扭轉(zhuǎn)剛度、螺母組件的軸向剛度以及支撐滾動(dòng)軸承的軸向剛度,采用集中質(zhì)量法建立雙驅(qū)動(dòng)傳動(dòng)系統(tǒng)的動(dòng)力學(xué)模型,由拉格朗日萬(wàn)程和狀態(tài)空間向量對(duì)系統(tǒng)的頻響特性進(jìn)行計(jì)算,最后通過(guò)數(shù)值分析得出雙驅(qū)動(dòng)系統(tǒng)頻響特性并比較分析與單驅(qū)動(dòng)系統(tǒng)的差異；以及預(yù)緊力、扭轉(zhuǎn)剛度和工作臺(tái)總質(zhì)量的變化對(duì)雙驅(qū)動(dòng)系統(tǒng)頻率響應(yīng)特性的影響,建模及仿真結(jié)果可作為雙驅(qū)動(dòng)進(jìn)給系統(tǒng)結(jié)構(gòu)設(shè)計(jì)和控制器設(shè)計(jì)的重要參考。(3)由于非線性摩擦及機(jī)械系統(tǒng)固有的彈性及阻尼特性會(huì)導(dǎo)致系統(tǒng)的爬行、振蕩等不穩(wěn)定行為,因此建立了考慮摩擦的雙驅(qū)動(dòng)微量進(jìn)給系統(tǒng)動(dòng)力學(xué)模型。利用傳遞函數(shù)框圖表示雙驅(qū)動(dòng)伺服微量進(jìn)給系統(tǒng)的運(yùn)動(dòng)關(guān)系,通過(guò)Simulink仿真分析在勻速進(jìn)給時(shí)不同驅(qū)動(dòng)方式下,工作臺(tái)輸出速度波動(dòng)的差異以及兩電機(jī)不同速度組合對(duì)工作臺(tái)輸出速度的影響；在變速輸入時(shí)不同驅(qū)動(dòng)方式下工作臺(tái)輸出速度變化情況。(4)基于傳熱學(xué)理論建立了系統(tǒng)各部件的傳導(dǎo)和對(duì)流換熱熱阻模型,通過(guò)熱節(jié)點(diǎn)的熱平衡分析,利用熱阻網(wǎng)絡(luò)法建立了該進(jìn)給系統(tǒng)的熱平衡方程組,采用Newton Raphson法求解熱平衡方程組,獲得進(jìn)給系統(tǒng)的溫度場(chǎng)分布模型；結(jié)合機(jī)械熱變形理論,用所建立的溫度場(chǎng)模型預(yù)測(cè)雙驅(qū)動(dòng)滾珠絲杠的軸向熱誤差。分別對(duì)單/雙驅(qū)動(dòng)工況下的熱動(dòng)態(tài)特性進(jìn)行了數(shù)值分析,結(jié)果表明,在相同進(jìn)給速度且不同驅(qū)動(dòng)方式下,單/雙驅(qū)動(dòng)系統(tǒng)的溫度場(chǎng)分布及熱誤差是不同的,對(duì)比分析還顯示了不同進(jìn)給速度下雙驅(qū)動(dòng)系統(tǒng)熱動(dòng)態(tài)特性的變化規(guī)律。(5)立足現(xiàn)代傳感檢測(cè)、信號(hào)處理與計(jì)算機(jī)現(xiàn)代數(shù)控技術(shù),自主開(kāi)發(fā)研制了雙驅(qū)動(dòng)微量進(jìn)給特性綜合實(shí)驗(yàn)臺(tái)。在所搭建的實(shí)驗(yàn)臺(tái)上進(jìn)行動(dòng)態(tài)特性實(shí)驗(yàn)研究,包括頻率響應(yīng)測(cè)試實(shí)驗(yàn)、工作臺(tái)在不同驅(qū)動(dòng)方式下的臨界爬行速度測(cè)試實(shí)驗(yàn)、系統(tǒng)溫升及熱伸長(zhǎng)測(cè)量實(shí)驗(yàn)。通過(guò)實(shí)驗(yàn)驗(yàn)證了所建立的理論模型,實(shí)驗(yàn)與仿真結(jié)果基本一致,說(shuō)明對(duì)雙驅(qū)動(dòng)進(jìn)給系統(tǒng)的理論計(jì)算及分析結(jié)果是正確的。
[Abstract]:One of the key technologies to realize the bottleneck of ultra precision machining is how to make the tool or workpiece accurately in the machining process, micro displacement is stable and reliable, the precision positioning technology. Precision positioning system for precision measurement, precision machining and other precision equipment plays an important role. Because of low speed creeping phenomenon of electromechanical system inherent properties cause the electrical drive system of conventional structure and working mode, due to the impact of low-speed nonlinear creeping phenomenon, it is difficult to achieve precise micro displacement, uniform feed control, can not meet the urgent needs of the current manufacturing equipment and high precision machining, so the study of micro displacement technology is an important way to realize the ultra precision machining. Aiming at the urgent need of high precision machining technology, macro micro dual drive technology is the realization of the trip, an effective strategy for high precision motion control That has a very high resolution, the positioning accuracy and dynamic response speed and larger feed stiffness, but there are obvious shortcomings, such as stiffness, nonlinear, hysteresis, creep, especially the hysteresis nonlinearity, the positioning accuracy is greatly reduced, so the motion synthesis principle and modern servo drive technology based on this the "macro Hongshuang drive servo system trace", "by a servo motor to drive the two quasi equal ball screw and a servo motor driven ball nut" (instantaneous speed of nearly equal size, the same direction) macro motion superposition, so as to avoid the traditional electromechanical servo system structure inherent attribute to can not be avoided, effects of low-speed nonlinear creeping phenomenon, in order to achieve high precision micro feed. Based on Hertz contact theory, contact raceway control theory, multi body dynamic and static credit Analysis of tribology and thermodynamics theory, with the help of Pro/E, ABAQUS, MATLAB and other software analysis, construct the kinematics model, kinetics model and thermodynamic coupling model of the dual drive micro feed mechanism of the dynamic characteristics of the main contents include: (1) motion analysis of ball using the principle of differential geometry, calculation the friction force at the contact point, the establishment of force and torque balance equation, influence of ball screw and nut on kinematic parameters under different rotational speeds, and the difference in different driving conditions of ball movement, and the calculation of double ball screw drive mechanism of the mechanical efficiency, the results of theoretical analysis have laid the foundation for the design and calculation of dynamics analysis of the micro feed mechanism. (2) by using Hertz contact theory in elastic mechanics, the calculation and analysis of torsional stiffness of the axial screw shaft and nut assembly The axial stiffness and axial supporting stiffness of rolling bearing, dynamic model of dual drive transmission system using the lumped mass method, calculated by the Lagrange equation and the state space vector frequency response characteristics of the system, and finally through the numerical analysis of double drive frequency response characteristics and compare with the single drive system; and the pre tightening force, torsion stiffness change and total quality table of the dual drive system frequency response characteristics, modeling and simulation results can be used as a double feed drive system structure design and controller design is an important reference. (3) the elastic and damping characteristics of nonlinear friction and mechanical system will cause the system to crawl, oscillation the unstable behavior, so the establishment of a double drive dynamic micro feed system model considering friction. Using the transfer function block diagram of dual drive servo trace into To the motion relationship of the system, through the Simulink simulation analysis of driving in different uniform feeding mode, difference table output speed fluctuation and two different motor speed combinations on the worktable output speed; speed input in different driving mode table output speed changes. (4) established the conduction heat transfer theory all parts of the system and the convection heat transfer thermal resistance model based on the heat balance heat node analysis, using thermal network method to establish the feed system of the heat balance equations of heat balance equations using Newton Raphson method to obtain temperature distribution model of the feed system; combined with the mechanical thermal deformation theory, the axial thermal error prediction double ball screw driven by temperature field model. Two single / double drive dynamic thermal performance under the condition of the numerical analysis results show that in the same. Drive to speed and different, single / dual drive system of the distribution of temperature field and thermal error is different, comparative analysis also shows the variation of thermal dynamic characteristics of the system driven by two different feed speeds. (5) based on modern sensor detection, signal processing and computer modern CNC technology, developed a double the driving characteristics of Taiwan. Comprehensive experimental micro feeding experiments were carried out to study the dynamic characteristics of the built experimental platform, including the frequency response test bench in different driving conditions of the critical creeping speed test system, temperature rise and thermal elongation measurement experiment. The model is verified by experiment, the experimental and simulation results basically the same, indicating the theoretical calculation and analysis result of the double feed drive system is correct.

【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TG659

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