非線形摩擦を含む共振系機械モデルのオンライン同定 (第2報):—2慣性系の機械パラメータをオンラインで同定する実用的な方法—

概要

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The linear actuator driven by a ball screw mechanism is widely used in the machine tools, since it can raise the machine speed higher. For the purpose of the stability in continuous path control of this type mechanism, it is important to identify the machine parameters, such as inertia, spring stiffness and dominant nonlinear friction. In the previous paper, we presented practical method for identifying the nonlinear parameters of the table driven by a ball screw mechanism and showed the effectiveness by the computer simulation. In the proposed method, the mechanical system is modeled as two-inertia system. Then, the two-inertia system is represented as an inverse model and a low pass filtered M-sequence is used as an input signal. The mechanical parameters are identified by using the steepest descent method with a dead band. This paper confirms effect of the proposed method from the results of the experimentation. The identified mechanical parameters quickly approach to the true mechanical parameters without measuring the velocity of the table.