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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Mechanical Deformation Analysis and High-Precision Control for Ball-Screw-Driven Stages
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Mechanical Deformation Analysis and High-Precision Control for Ball-Screw-Driven Stages

机译：滚珠丝杠驱动位移台的机械变形分析和高精度控制

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摘要

Ball-screw-driven stages are widely used in industry for long-range and high-precision fabrication. One of the main difficulties in dealing with high-precision motion control is the nonlinear friction, which originates at elastic deformation of the mechanical components. In this paper, first, a novel mechanical model of a ball-screw-driven stage is proposed to analyze the elastic deformation dynamics under various motion conditions. It is achieved that the mechanical deformation characteristic of fast motions differs from the case of slow motions in the zero-speed region, and therefore, performing friction compensation should take the motion conditions into account. Then, based on this observation, a sinc-function-based friction compensation method for slow motions including both reverse motions and nonreverse motions and a Sigmoid-function-based friction compensation method for fast reverse motions are proposed to improve the control performance. Thanks to the very few parameters, the proposed methods can save much trouble in design and maintenance and are particularly suitable for control purposes. Finally, the advantages of the proposed methods are evaluated by experiments.
机译：滚珠丝杠驱动平台在工业上广泛用于远程和高精度制造。应对高精度运动控制的主要困难之一是非线性摩擦，其起源于机械组件的弹性变形。在本文中，首先，提出了一种新型的滚珠丝杠驱动的力学模型，以分析各种运动条件下的弹性变形动力学。可以看出，快运动的机械变形特性不同于零速区域中慢运动的机械变形特性，因此，进行摩擦补偿时应考虑运动条件。然后，基于此观察结果，提出了一种用于正向运动的包括反向运动和非反向运动的慢速运动的摩擦补偿方法以及用于快速反向运动的基于Sigmoid函数的摩擦力补偿方法，以提高控制性能。由于参数很少，因此所提出的方法可以节省设计和维护的麻烦，并且特别适合于控制目的。最后，通过实验评估了所提出方法的优点。

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