| The double-layer dual-drive feed system is widely used in CNC equipment such as gantry CNC machine tools and Cartesian coordinate robots.It has the key function of executing the feeding according to the established contour trajectory.However,the plane contour error is prone to occur during the double-layer dual-drive linkage feeding process,which causes the accuracy of the feeding movement to decrease.At present,the research mainly focuses on the single-drive multi-axis contour error compensation control,and there is little research on the plane contour error compensation control of double-layer dual-drive feed system.Therefore,it is of great significance to study the plane contour error compensation control of the double-layer dual-drive feed system.Based on this,this paper takes the double-layer dual-drive feed system as the platform,and carries out the research on the synchronous control of the double-layer dual-drive,the research on the modeling and compensation of the plane contour error of the double-layer linkage feed.Finally,the relevant experiments are carried out to verify the theoretical research.The details are as follows:(1)The overall structure and working principle of the double-layer dual-drive feeding system have been analyzed;Aiming at the structural characteristics of the double-layer dual-drive feed system,on the basis of establishing a single-axis tracking error model and a dual-drive synchronization error analytical model,Contour error calculation model based on the plane vector method has been established by using the plane geometric relationship between theoretical points,actual points,tracking error and feed rate,and compared with the traditional plane contour error calculation model,the superiority of the contour error calculation model designed in this paper has been analyzed.(2)Aiming at the tracking and positioning accuracy of the single-axis servo system,the mathematical model of the closed-loop control of the servo system has been established and analyzed,and the three-loop control parameter debugging and tuning analysis has been carried out;In order to further analyze the performance of the dual-drive synchronous control in the feed direction,different synchronous control strategies of the dual-drive feed system have been designed,and the simulation comparison and analysis have been carried out.(3)A method of two displacement compensation based on the plane vector rule has been proposed,and the compensation of the plane contour error has been studied.The double-layer bidirectional linkage cross-coupling contour error compensation control strategy has been designed,and the cross-coupling fuzzy control algorithm has been designed to realize the output of the contour error compensation signal during the linkage feeding process of the double-layer workbench,and through the proportional distribution of each feed axis in the two directions of the plane,the double-layer interpolation contour error has been realized,thereby improving the compensation control accuracy of the plane contour error of the double-layer dual-drive feeding system.(4)A feed system based on double-layer dual-drive synchronous control has been built,and the experimental scheme and process of plane contour error compensation of the double-layer dual-drive feed system have been designed;On the basis of the single-axis tracking debugging experiment and the double-layer dual-drive synchronous control experiment,the experiment of the plane contour error compensation of the double-layer dual-drive feeding system has been carried out,it verifies the effectiveness of the plane contour error compensation method of the double-layer dual-drive feed system proposed in this paper. |
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