Pre-compensation of Friction for CNC Machine Tools through Constructing a Nonlinear Model Predictive Scheme

IF 4.5 2区工程技术 Q1 Engineering

Chinese Journal of Mechanical Engineering Pub Date : 2023-10-16 DOI:10.1186/s10033-023-00946-x

Qunbao Xiao, Min Wan, Xuebin Qin

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引用次数: 0

Abstract

Abstract Nonlinear friction is a dominant factor affecting the control accuracy of CNC machine tools. This paper proposes a friction pre-compensation method for CNC machine tools through constructing a nonlinear model predictive scheme. The nonlinear friction-induced tracking error is firstly modeled and then utilized to establish the nonlinear model predictive scheme, which is subsequently used to optimize the compensation signal by treating the friction-induced tracking error as the optimization objective. During the optimization procedure, the derivative of compensation signal is constrained to avoid vibration of machine tools. In contrast to other existing approaches, the proposed method only needs the parameters of Stribeck friction model and an additional tuning parameter, while finely identifying the parameters related to the pre-sliding phenomenon is not required. As a result, it greatly facilitates the practical applicability. Both air cutting and real cutting experiments conducted on an in-house developed open-architecture CNC machine tool prove that the proposed method can reduce the tracking errors by more than 56%, and reduce the contour errors by more than 50%.

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基于非线性模型预测方案的数控机床摩擦预补偿

非线性摩擦是影响数控机床控制精度的主要因素。通过建立非线性模型预测方案，提出了一种数控机床摩擦预补偿方法。首先对非线性摩擦跟踪误差进行建模，然后建立非线性模型预测方案，以摩擦跟踪误差为优化目标对补偿信号进行优化。在优化过程中，对补偿信号的导数进行了约束，以避免机床的振动。与现有方法相比，该方法只需要Stribeck摩擦模型参数和一个额外的调谐参数，而不需要精细识别与预滑动现象相关的参数。因此，极大地促进了实际应用。在自主开发的开放式数控机床上进行的气切和实切实验表明，该方法可将跟踪误差降低56%以上，将轮廓误差降低50%以上。

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来源期刊

Chinese Journal of Mechanical Engineering ENGINEERING, MECHANICAL-

CiteScore

5.60

自引率

4.80%

发文量

3097

审稿时长

8 months

期刊介绍： Chinese Journal of Mechanical Engineering (CJME) was launched in 1988. It is a peer-reviewed journal under the govern of China Association for Science and Technology (CAST) and sponsored by Chinese Mechanical Engineering Society (CMES). The publishing scopes of CJME follow with: Mechanism and Robotics, including but not limited to -- Innovative Mechanism Design -- Mechanical Transmission -- Robot Structure Design and Control -- Applications for Robotics (e.g., Industrial Robot, Medical Robot, Service Robot…) -- Tri-Co Robotics Intelligent Manufacturing Technology, including but not limited to -- Innovative Industrial Design -- Intelligent Machining Process -- Artificial Intelligence -- Micro- and Nano-manufacturing -- Material Increasing Manufacturing -- Intelligent Monitoring Technology -- Machine Fault Diagnostics and Prognostics Advanced Transportation Equipment, including but not limited to -- New Energy Vehicle Technology -- Unmanned Vehicle -- Advanced Rail Transportation -- Intelligent Transport System Ocean Engineering Equipment, including but not limited to --Equipment for Deep-sea Exploration -- Autonomous Underwater Vehicle Smart Material, including but not limited to --Special Metal Functional Materials --Advanced Composite Materials --Material Forming Technology.