High Precision Servo Control Method Based On The Friction Compensation Research And Implementation

With the continuous development and progress of science and technology, the ncmachining of precision, efficiency requirements are constantly improve, which isbecoming more and more high to the requirement of servo system, the servo system isalso in the high speed, high precision, high efficiency the direction of development.Butthere are many nonlinear characteristics in servo system, in order to improve the controlprecision of the system, must compensate for these nonlinear properties, the friction isone of the important factors that influence the system precision.The workbench iswidely used in machinery manufacturing and machining process, so the frictioninfluence to the workbench to compensate has very important practicalsignificance.Aiming at Friction part in table movement system, this paper uses thetheory of modeling and combine simulation analysis with experimental research methodto compensate that, and proposes a symmetric zero speed friction compensation method.First analyses the structure and composition of the workbench, from the Angle ofmathematics, mathematical model of ac permanent magnet synchronous motor isestablished, the analysis of mechanical transmission, mechanical transmission structuremechanics model is established, finally the parameter identification of friction is to laythe foundation for the follow-up of the friction compensation.Secondly according to the mathematical and mechanical model is established in theprevious chapter, the servo system based on Simulink simulation platform isestablished.Based on the simulation platform for research, found the workbench of thetracking error is mainly in speed reverse, crawl phenomenon caused by friction.For thatcarefully analysis and research to the workbench crawl phenomenon, through thereasonable hypothesis and analysis, from the perspective of reducing workbench in thecrawling phenomenon presents a symmetric zero speed friction compensation methods,effectively overcome the influence of nonlinear friction, reduced the amount of timetable in the crawling phenomenon, improve the control precision of the servo system.Finally, introducing the hardware and software platform and realizing the frictioncompensation controller design besides integrating into the servo control system.Thenusing x-y workbench to testing it’s correct and effective.