Vibration Error Compensation of Lead Screw Transmission Based on Input Shaping
Aiming at the vibration error caused by the elastic deformation of the mechanical structure in the lead screw drive system,the Lagrange equation of the system is established by combining the improved lumped parameter method with the distributed parameter method,so as to obtain the dynamic model,obtain the transfer functions in the X and Y directions,and reduce the order of the closed-loop transfer function.Then,through simulation experiments in Simulink,the input shaper parameters are calculated based on the reduced order function,and the error compensation effects of ZV input shaping and ZVD input shaping are compared.Finally,the application verification was conducted on a self-developed experimental platform:when the load is light on the X-axis movement,the stability of the two compensation methods is not much different,and the ZV input shaper adjustment time is shorter;When the load is heavy on the Y-axis move-ment,the ZVD input shaper is more stable.
vibration errorinput shapingerror compensationball screw system
NETL
NSTL
万方数据
维普
