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在重载并联机床中,智能加减速控制算法对于驱动力的影响是显著的,但却很少被注意到。该文以一种重载混联机床中的二自由度并联机构为研究对象,利用虚功原理构建机构的动力学模型,通过实验仿真分析不同智能加减速控制算法对并联机构运动输入端驱动力的影响,并针对当前通用的S型加减速控制算法分析仿真,得到重载特性对机床控制的影响因素,最后对现有的S型加减速控制算法进行参数优化。结果表明,优化后的S型加减速控制算法在不影响表面加工质量的前提下,减小了机床在运行过程中的对电动机驱动力的要求。
In heavily loaded parallel machines, the effect of the smart acceleration / deceleration control algorithm on driving force is significant, but rarely noticed. In this paper, a two-DOF parallel mechanism in a heavy duty hybrid machine tool is taken as the research object. The dynamic model of the mechanism is constructed by using the virtual work principle. The simulation results show that the driving force of the parallel input mechanism The influence of the heavy load on the control of the machine tool is analyzed according to the current common S-type acceleration and deceleration control algorithm. Finally, the parameters of the existing S-type acceleration and deceleration control algorithm are optimized. The results show that the optimized S-type acceleration and deceleration control algorithm can reduce the requirement of motor driving force during operation of machine tool without affecting the quality of surface machining.