외란 모델이 고려된 듀얼 서보 갠트리형 이송계 모델 설계

초록

Methods to design simulation models are classified into system identification methods through experimental estimation and designing methods by analyzing dynamic elements. This study used an analytical method to design a dual-servo gantry-type feed system simulation model with unspecified disturbance and friction models for table positions appearing in low-cost machine tools. The friction model and unspecified disturbance were estimated through experiments in a static state (uniform velocity motion). To minimize the effect on the backlash, the disturbance model was estimated by changing the target speed from 100 mm/min. The feed system model of the Y1 and Y2 axes was dynamically analyzed and designed. The same command was given to the simulation model and commercial machine tools to obtain, compare, and verify the result data. The results confirmed that similar behavior was observed in both cases based on the steady-state error and time constant.

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