膠著滑動進給之動態特性及伺服控制器設計

The dynamic behavior of stick slip and the design of servo controller

簡淑燕(Shu-Yen Chien)

指導教授 ： 康淵

中原大學/工學院/機械工程研究所/碩士(2002年)

https://doi.org/10.6840/cycu200200335

摘要

中文摘要
在低速下，工件會發生時快時慢等切跳現象，這種現象稱為膠著滑動，膠著滑動現象是由於動、靜摩擦的差異所造成，本文模擬機台膠著滑動進給之動態特性，並設計控制器對位置誤差加以補償，增加伺服精度，以減少加工成品之粗糙度。
以混合乾摩擦及油膜潤滑模擬機台滑動之模型，分析膠著滑動對系統伺服定位運動精度的影響，探討PID控制法則及類神經網路控制法則對膠著滑動之穩定性，藉由改變系統之各種參數，探討系統參數對定位精度的影響，並由穩定性的分析，採用倒傳遞類神經網路控制法則，對機台運動的伺服精度限界，得到期望的穩定性範圍。
本文提出在使用倒傳遞類神經網路控制器，系統各狀態為可控制且穩定的條件下，分別針對速度或位置控制討論，發現位置輸出結果受到速度誤差的影響，因此選用混合位置及速度的控制器，同時對機台作位置及速度控制，使加工進給位置誤差在微米以下。

關鍵字

膠著滑動

並列摘要

Abstract
In low velocity, the stopping and self-starting feature of workpiece is called stick slip. The phenomenon of stick slip is made of the difference of the static and dynamic friction. This artist models the dynamic property of machine feed under stick slip, and designs controller compensate position error, and adds servo’s accuracy, and reduces roughness of processing products.
Using the model of mixed dry and oil lubricant learn machine’s sliding to analysis the degree of the stick slip phenomenon influences the servo positing accuracy. Discuss the stability of PID control rule and neural network control rule. With changing every parameter of system, you can discuss the degree of system parameters influence positing accuracy. With analyzing of the stability, adapt the back propagation network control rule to get the expected stability region.
This artist introduces under every state is sable and controllable, using the back propagation network to respectively discuss the velocity or position control and discover the influence of position output and velocity error. Therefore, Using the controller of mixed position and velocity, at the same time, to do the position and velocity control to make processing feed position error is under micrometer.

並列關鍵字

stick slip

參考文獻

1. F. P. Bowden, L. Leben, “The nature of sliding and the analysis of friction”, Proc. R. Soc. A169, pp. 371-391, 1939.

2. B. R. Singh, H. B. Mohanti, “Experimental investigations on stick-slip sliding”, The Engineer, pp. 537-539, 1959, 4.

3. B. R. Singh, “Sensitivity of slow shifting under stick-slip conditions”, The Engineer, pp. 187-190, 1960, 6.

4. B. R. Singh, “Study of critical velocity of stick-slip sliding”, ASME J. Eng. Ind., pp. 393-398, 1960,11.

5. S. Kato, “Stick-slip motion of machine tool slide way”, ASME J. Eng. Ind., pp. 557-566, 1974, 5.