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0pt;">结论与展望</span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">数控机床在低速或重载的情况下容易出现爬行现象。爬行出现会影响机床的定位精 度和表面粗糙度等，严重时还可能造成机床停机，给机床造成过大的伤害。国内外的学 者和专家针对爬行现象，提出了八种有关爬行的物理模型，并根据物理模型计算出数学 模型后推导出造成爬行的各种因素，最终提出解决方案。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本文在前人的研宄基础上，挑选出了最简易并且有代表性的物理模型，由物理模型 推导出数学模型后，根据数学模型确定了机床产生的爬行的临界速度，并最终导致爬行 产生的爬行因子。现将研宄工作总结如下：</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(1) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ADAMS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">中建立爬行运动仿真模型，模拟数控机床在机械传动进给系统中产 生爬行时的运动状态，根据爬行机理和确定的影响爬行的因子，尝试使用改变单一变量 的方法来分析各个因素对爬行产生的影响。通过不断调整驱动速度、系统的工作台质量、 静动摩擦系数之差、系统的传动刚度和系统的阻尼的参数，分析判断出了减小工作台质 量、静动摩擦系数之差和增大系统传动刚度、系统阻尼和提高驱动速度能起到改善爬行 的作用。存在的不足是：由于数控机床本身的各种配置比、机床材料、尺寸和经济等方 面的原因，不可能一味的提高某一项爬行因子的参数，故此方法不能广泛使用。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(2) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">爬行是一种摩擦自激振动，由此想到利用外加振动来抵消在爬行过程中产生的 振动。分别给爬行的运动仿真模型加入垂直和水平方向的简谐振动，通过不断地调整参 数模拟仿真后发现：在垂直方向加入简谐振动对爬行改善效果不明显；在水平方向加入 简谐振动能够改善爬行；同时加入垂直简谐振动和水平简谐振动时，要使水平振动比垂 直振动大，这样也能起到改善爬行的作用。这三种外加简谐振动得情况中，单纯外加水 平简谐振动对改善爬行效果最好，但是并不能完全抑制爬行，而且简谐振动的参数确定 有一定的难度。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(3) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">另外一种加入振动的方法是在导轨上建立虚拟振动源，通过调整虚拟振动源 的参数来抵消机床发生爬行时产生的振动。通过分析同频率不同振幅和同振幅不同频率 的情况：明确了当幅值为1、频率为12时的最佳配置参数比，将频率12附近的参数细 化以后，发现了改善爬行的最优频率范围；当频率为20、幅值在20左右时，对改善爬 行效果最好。事实上通过这种方法实现了调节振动源的幅值和频率能改善爬行的设想， 并且达到了比较满意的效果。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(4) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">振动对改善爬行已经取得了比较好的效果，但是还没有完全抑制住爬行。由 此想到利用</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制，因为</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制对模型的要求精确不高，而且简单方便易控制。在 爬行运动仿真模型上，建立</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">系统，整定</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">参数。根据</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">P</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制、</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制和</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制 分别调整增益参数，来分析速度和加速度仿真图。经过大量仿真分析后，比例控制应用 于模型的模型是效果最佳的，比例积分控制和比例积分微分控制都存在前期控制力度不 够，后期出现过饱和的现象，加入积分和微分控制反倒使系统变得不稳定。</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制虽 然抑制了爬行，但是本身存在很多副作用（易出现震荡和超调</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">）</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(5) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">在振动上加入</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制中的比例控制很好的抑制住了爬行，参数调整合适后， 能将振动和</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">完美的结合在一起，提高了单纯加入振动时对爬行改善的程度，具有一 定的研宄价值和意义。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">展望：本文一切理论成果都是在</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ADAMS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">中得出的结论，还未在实际数控机床上操 作过，后续还需要研究的内容：在振动的基础上加</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制还能进一步优化和细化，确 定出振动源参数和</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制参数之间的规律；在实际机床上验证加入振动源后对爬行的 实际改善效果。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><br clear="all" style="page-break-before:always;mso-break-type:section-break" /> </span></p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"> </p> <p class="NewStyle20" style="margin-left: 0pt; text-indent: 18pt; line-height: 21.85pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“振动对数控机床进给系统爬行的影响”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <!-- 分类 --> <div class="blank10"></div> 分类： <a href='/bethel/type/jnc/type-1.html' target='_blank'>加工中心</a> <div class="blank30"></div> <!--自动调用自定义字段--> <div 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