工作機械における位置変動ロストモーションのモデル化と補償(機械力学,計測,自動制御)

概要

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Lost motion is one of the major disturbances to the contouring accuracy of NC machine tools. NC machine tools with large travel area sometimes show position-varying lost motion. Conventional backlash compensation with constant parameter applied to that lost motion causes contouring error due to inadequate compensation. This paper presents a model of a two-body system with a position dependent spring and position dependent friction that exhibits position-varying lost motion, and a compensation method for that lost motion introduced from the model. Tuning method for the compensation parameters is also proposed. Stiffness of the position dependent spring is calculated from specs of mechanical parts, such as a ball screw, bearings, a coupling, so on. The position depend friction is measured as a motor torque in a straight motion at a relatively slow constant feed rate. Contouring accuracy in a circular test of NC machine tools, measured by a two-dimensional grid encoder, demonstrates the improved performance of the proposed method.
社団法人日本機械学会の論文
2007-09-25