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首页> 外文期刊>Mathematical Problems in Engineering: Theory, Methods and Applications >Dynamic Characteristics Analysis and Test of Dual-Driving Feed System Driven by Center of Gravity
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Dynamic Characteristics Analysis and Test of Dual-Driving Feed System Driven by Center of Gravity

机译：重心驱动的双驾驶饲料系统的动态特性分析与试验

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摘要

Dual-driving feed system (DDFS) driven by center of gravity (DCG) has been widely used in advanced manufacturing machine for its high rigidity and precision. However, the DCG technology requires that the joint force coincides with the center of gravity of the sliding stage. The dual-driving synchronization and tracking performance will be affected by the change of center of gravity of the sliding stage. Therefore, this paper proposes dynamic characteristics modeling, identification, and control scheme for DDFS driven by center of gravity (DCG). Firstly, a redundancy dynamic model including rotation and pitch vibration caused by the change of the position of center of gravity is presented for DDFS DCG based on the Lagrange method. The model parameters are identified by system identification experiment, and the predictive natural frequencies and vibration modes by the proposed dynamic model are compared by modal experiment. Moreover, the dynamic model-based cross-coupled sliding mode control (CCSMC) is proposed for DDFS DCG. Then, the proposed dynamic model-based CCSMC has been compared with normal cross-coupled sliding mode control (NCCSMC). Both the simulation and experimental results show that the proposed dynamic characteristics analysis and test scheme of DDFS DCG are validated effectively by comparisons.
机译：由重心驱动的双驱动馈电系统（DDF）已广泛用于高刚性和精度的先进制造机。然而，DCG技术要求关节力与滑动阶段的重心一致。双驱动同步和跟踪性能将受到滑动级重心变化的影响。因此，本文提出了由重心驱动的DDFS的动态特性建模，识别和控制方案（DCG）。首先，基于拉格朗日方法，为DDFS DCG提出了一种冗余动态模型，包括由重心的位置的变化引起的旋转和俯仰振动。通过系统识别实验识别模型参数，通过模态实验比较了所提出的动态模型的预测自然频率和振动模式。此外，为DDFS DCG提出了基于动态模型的交叉耦合滑动模式控制（CCSMC）。然后，已经将所提出的基于动态模型的CCSMC与正常交叉耦合的滑动模式控制（NCCSMC）进行比较。仿真和实验结果均表明，通过比较有效地验证了DDFS DCG的所提出的动态特性分析和测试方案。

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