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Large-rigidity dexterous full-component friction identification servo feeding device and method

A servo-feeding, high-rigidity technology, applied in program control, instruments, calculations, etc., can solve the problems of reducing structural rigidity, inability to measure friction force effectively, non-disassembly, etc., and achieve the effect of improving flexibility and facilitating loading test

Active Publication Date: 2019-09-06
SHANDONG UNIV
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Problems solved by technology

[0003] The inventor found that in terms of experimental equipment, in order to establish an accurate friction model, it is necessary to identify the friction model parameters of each component separately. The components of the traditional "ball screw + linear guide" feed system are closely connected, and the use of external sensors cannot be effectively measured. The friction between the various components; the embedded sensor not only reduces the structural rigidity, but also cannot be disassembled, and it is difficult to perform a comparative experiment of friction compensation after the measurement, which is difficult to guarantee the accuracy and flexibility of the measurement

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  • Large-rigidity dexterous full-component friction identification servo feeding device and method

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[0047] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0048] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof;

[0049] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present i...

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Abstract

The invention relates to a large-rigidity dexterous full-component friction identification servo feeding device and method. The device is capable of respectively measuring the friction force in the mechanisms, accurately identifying the friction parameters, and mounting most of the current universal models of torque sensors, force sensors, grating scales, switches and proximity switches; and the new structural design is capable of improving the overall rigidity of the device while ensuring the measurement accuracy and structural flexibility. The above sensors can be disassembled and replaced;and after removing a force sensor and a torque sensor, the device is a ball screw / linear guiderail feeding mechanism which can be used for the comparison experiment of friction compensation to verifythe effectiveness of the new method. According to the device and method, a GMS (generalized Maxwell slip) model is used to establish a refined friction model of the servo feeding system. A novel timedomain identification method is adopted, so that the friction parameters of each component of the device can be effectively identified.

Description

technical field [0001] The invention relates to a friction identification servo feed device and friction parameter identification method of a large-rigid smart full-component, mainly using a new type of measuring device, and performing friction identification on each component of the feed mechanism based on a GMS model, which belongs to precision servo positioning and precision processing equipment field. Background technique [0002] Friction is one of the main factors that reduce the accuracy of the servo feed system during low-speed motion. Especially in precision machining and precise positioning, the friction phenomenon in the pre-sliding stage has strong nonlinear characteristics, which has a great impact on the low-speed motion performance of the system. Therefore, the friction compensation of the servo system is one of the current research hotspots. [0003] The inventor found that in terms of experimental equipment, in order to establish an accurate friction model,...

Claims

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Application Information

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IPC IPC(8): G05B19/4062G06F17/50
CPCG05B19/4062G05B2219/34013G06F30/20
Inventor 杜付鑫杨浩锦王子豪陶檄蒙卢佳佳张涛
Owner SHANDONG UNIV
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