Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics
Mathematical Model of Linear Motor Stage with Non-Linear Friction Characteristics
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DOI：
10.1299/jamdsm.2.675
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发表时间：
2007
影响因子：
0.9
通讯作者：
S. Kaneko;R. Sato;M. Tsutsumi
中科院分区：
文献类型：
--
作者：
S. Kaneko;R. Sato;M. Tsutsumi
本文提出了一种由圆柱直线电机和直线滚珠导轨组成的进给驱动系统的数学模型。摩擦模型由两部分组成;微观运动下位移和摩擦力之间关系的模型（非线性弹簧特性），以及速度和摩擦力之间关系的模型（Stribeck曲线）。非线性弹簧是根据甚低频简谐运动实验结果建模的。Stribeck曲线是从各种恒定速度进行的摩擦力实验的结果建模。模型中的参数是根据进给驱动系统的机床规格和实验结果推导出来的。此外，为了考虑线性标度的量化误差，控制器和放大器被建模为离散时间系统。为了评估所提出的模型，在各种条件下的阶跃响应和圆周运动进行了测量和模拟。研究了摩擦特性对动力学行为的影响。在实验中，使用三种不同粘度的润滑脂改变摩擦特性并进行比较。结果，确认了润滑脂粘度的差异强烈地影响阶跃响应的振动阻尼。此外，澄清了象限毛刺不会出现在微观位移区域。通过大量的仿真实验，验证了所提出的模型能够准确地反映真实的行为。
This paper proposes a mathematical model of a feed drive system consisting of a cylindrical linear motor and linear ball guides. The friction model consists of two components; a model for the relationships between displacement and friction force under microscopic motion (non-linear spring characteristic), and a model for the relationship between velocity and friction force (Stribeck curve). The non-linear spring is modeled from the results of very low frequency simple harmonic motion experiments. The Stribeck curve is modeled from the results of friction force experiments conducted for various constant velocities. The parameters in the model were derived from machine specifications of the feed drive system and experimental results. In addition, in order to account for the quantization error of the linear scale, the controller and amplifier were modeled as a discrete time system. To evaluate the proposed model, step responses and circular motion under various conditions were measured and simulated. The influence of the friction characteristics on dynamic behavior was then investigated. In the experiment, the friction characteristics were changed and compared using three greases with differing viscosities. As a result, it was confirmed that differences in grease viscosity strongly influence the damping of vibrations for the step responses. Furthermore, it was clarified that quadrant glitches do not appear in the microscopic displacement region. For many simulation results, it was verified that the proposed model accurately reflects the real behavior.