Modeling method for dual-driving synchronous electromechanical coupling characteristic of walking beam type gantry machine tool

Abstract

The invention discloses a modeling method for the dual-driving synchronous electromechanical coupling characteristic of a walking beam type gantry machine tool and solves the problems that the mechanical characteristics of a coupling part of the walking beam type gantry machine tool are decoupled and modeled. The modeling method is characterized in that the factor that the load of the gantry machine tool moves on a cross beam is considered and the problems that the speed of the dual-driving two-shaft coupling part is decoupled with force can be solved. According to the modeling method disclosed by the invention, the actual conditions of the mechanical characteristics for the dual-driving two shafts during synchronous movement can be accurately reflected and main factors for influencing the asynchronous error of two shafts can be disclosed; and the modeling method provides theoretical basis for measures for reducing the dual-driving asynchronous error.

Description

technical field [0001] The invention relates to a modeling method, in particular to a modeling method for the dual-drive synchronous electromechanical coupling characteristics of a moving beam type gantry machine tool. Background technique [0002] The beam part (or two columns) of the moving beam type gantry machine tool is driven forward by double motors and double leadscrews. However, due to the electrical parameters of the two axes, the inconsistency of the friction force and the mechanical coupling between the two axes, the gantry structure The effect produces the asynchronous error of the double drive and two axes. This error will not only deform the mechanical structure, but also greatly reduce the kinematic performance of the system. Therefore, reducing the asynchronous error of the dual drive and two axes has become a moving beam gantry machine main key technologies. [0003] The friction force and mechanical coupling of the dual-drive and two-axis are the main fac...

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Problems solved by technology

[0004] In the existing mathematical models of dual motors jointly driving a feed shaft, some simply equate the transmission system as a second-order system, and use the method of system identification to establish the parameters of the model. Although the mechanical coupling part of the dual drive can be resolved coupling, but it cannot reflect the working principle of the control system. Although some single-axis transmission models have been established based on theoretical analysis, the control model part of the two-axis mechanical coupling has not been established, that is, the difference in friction between the two axes is not considered, and Due to the influence of the interaction force generated by the mechanical coupling of the two axes, it is of great significance to propose a method to decouple the coupling part based on theoretical analysis and apply it to the modeling of the dual-drive synchronous system

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