35-基于SIMULINK的伺服进给系统仿真模型与分析

320133ModularMachineTool＆AutomaticManufacturingTechniqueNo．3Mar．20131001－2265201303－0080－042012－07－13*20102190031963—、[e-mail]。SIMULINK*110168。Matlab/Simulink、、、。。TH161TP23AServoFeedDriveSystemSimulationModelandAnalysisBasedonSIMULINKSUNJunLIUWeiTIANLongZHUWeiTANGHai-lunSchoolofTrafficandMechanicalEngineeringShenyangJianzhuUniversityShenyang110168ChinaAbstractInordertostudyonvariousfactorswhichcanaffectservofeeddrivesystemperformanceanddesignahighperformancesysteminthispaperaservofeeddrivesystemcomprehensivesimulationmodelisestablishedbasedonclassicmechanicaldynamicstheory．Changingdifferentparametersofthesystemsuchassystemstiffnesstablemassbacklashfrictioninthedrivesystemandcuttingforcemakesthecorre-spondingsimulationonthesystembyusingofMatlab/Simulinktoolandgetthesimulationresultswhichcanreflectthedynamicperformanceideally．Theresultsshowthatusingthismodelcanmakesimulationrapidlyandeffectivelyandcanobserveandcontrastthesimulationresultsintuitivelyalsocometosomeofthespecificconclusionswhichhavecertainpracticalvalueandreferencevalueforfuturesystemoptimization．KeywordsCNCmachinetoolsservofeeddrivesystemsimulationmodel0、、1。。Matlab/Simulink。11.1、、、2。1。112。2Tm、θm、JKCbCtlB．Lxt、MtFc。22Jθ¨m+cbθ·m+fb+l2πKl2πθm－x()t=Tm1Mt¨xt+ctxt+ft+Fc=Kl2πθm－x()t2fb=fcbsgnθ·mft=fctsgnxtfcbfct。1.2。3-4。3。322.1Simulink3。Matlab/Simulink4。4Simulink2.2Matlab/Simulink、。Kpp=5Vrg=50Kvp=200Kvi=4Kip=2J=1.3×10－3kg·m2cb=0.004Ns/radLM=2.8×10－3HRS=1Ωλe=0.9Nm/AKt=0.3Vs/radCt=100Ns/radK=1.5×106Nm/radl=0.01m。5～60.005m/s、0.01m/s、0.02m/s、。。。7～80.01m/sBacklash0.000mm、0.002mm、0.005mm。70.17s0.31s80.1s。9～140.01m/s。1。·18·20133SIMULINK56780.1s911021131241351465。。6-10。1No．NN/mMtkgBacklashmmfcbNmfctN11．5×106500．0000．46021．5×106500．0020．46031．5×1061000．0050．46041．0×106500．0050．46051．5×106500．0050．410061．5×106500．0050．8601012101110%～15%1314。15～19。15·28·3。16、1718。19。2。2No．velocitym/sBacklashmmFcN70．010．000080．010．00040090．010．005400100．010．00580015716817918101931。210%～15%。、。。。3。。1Y．AltintasA．VerlC．Brecher．MachinetoolfeeddrivesJ．CIRPAnnals-ManufacturingTechnology201160779－796．2VaranasiKKNayfehSA．Thedynamicsoflead-screwdriv-eslow-ordermodelingandexperimentsJ．ASMEJDynSystMeasControl2004126388－396．3R．SatoandM．TsutsumiModelingandControllerTuningTechniquesforFeedDriveSystemsJ．Proc．oftheASMEDynamicSystemsandControlDivisionPartADSC74－12005669－679．4．PMSMJ．2009744－49．5M．EbrahimiR．Whalley．Analysismodelingandsimula-tionofstiffnessinmachinetooldrivesJ．Computers＆In-dustrialEngineering20003893－105．6AgustínCasqueroRogelioHecker．ParameterIdentificationofAFeedDriveforHighSpeedMachineToolsJ．ABCMSymposiumSeriesinMechatronics20104546－552．7．J．201248786－93．8．J．200937863－65．9．、J．200137676－81．10．PIDMATLABM．2003．檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨檨殎殎殎殎“863”、“”、“”、、“”。1．15－202．6－85－6。———·38·20133SIMULINK