CN106230308A - A kind of ball screw assembly, pretightning force TT&C system having from perceptive function and method - Google Patents
A kind of ball screw assembly, pretightning force TT&C system having from perceptive function and method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
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Abstract
The invention discloses a kind of ball screw assembly, pretightning force TT&C system having from perceptive function and method, including pre-tightening apparatus and measure and control device, with giant magnetostrictive material as core, the positive back wash effect utilizing material to have realizes actuator and sensor function, permanent magnet provides bias magnetic field for giant magnetostrictive rod, one coil provides driving magnetic field as the ultra-magnetic deformation actuator that excitation coil is this measure and control device, the size of actuator output pretightning force is controlled by changing the electric current of excitation coil, another one coil as pick-up winding by obtain the magnetic field that causes of pretightning force change change realize ball screw assembly, pretightning force from perceptive function.The present invention can realize ball-screw pretightning force can realize again the most accurately controlling of pretightning force from perception, improves the transmission accuracy of ball screw assembly, makes the running precision of Digit Control Machine Tool and crudy be guaranteed.
Description
Technical field
The invention belongs to the technical field of ball screw assembly, pretightning force automatic measuring and controlling, particularly relate to one and have from perception merit
The ball screw assembly, pretightning force TT&C system of energy and method.
Background technology
Equipment manufacture level mainly sees lathe, and high performance Digit Control Machine Tool needs matched high-performance feeding system
System.Ball screw assembly, is the crucial joint portion of NC machine tool feed system, and ball screw assembly, gap directly influences Digit Control Machine Tool
Actual motion precision and crudy, but, owing to manufacturing and the error of assembling, there is gap, roll simultaneously in ball-screw vice president
Ballscrew is under the effect of axial load, and ball and screw thread raceway contact position can produce elastic deformation, ball-screw and nut
The size in gap can directly influence the precision of the actual processing of Digit Control Machine Tool, to this end, should manage to be eliminated or reduce as far as possible.
In Digit Control Machine Tool assembles, widely used pretightning force eliminates the gap of ball-screw-transmission.The applying of pretightning force can
With rolling element in minimizing nut assembly and the axial gap of raceway, increase feed system axial rigidity, reduce the vibration in using
And the mechanical efficiency of increase ball screw assembly, particularly significant.The pre-tension method currently used is divided into traditional pre-tension method with existing
The pre-tension method in generation.
Traditional pre-tension method, frequently with double nut pretension, controls elastic deformation amount in Min., and conventional is double
Nut eliminates the pre-pressing structure pattern of axial gap mainly to be had: double nut pad adjusts gap type, Double-nut threaded to adjust gap type and double spiral shell
Female tooth difference adjusts gap type three kinds；Double nut pad adjusts gap type to be typically employed in shimming between two nuts of ball screw assembly, adjusts
The thickness of whole pad makes nut produce axial displacement, to reach eliminate gap and produce the purpose of pretightning force, changes the thickness of pad
Degree can make double nut obtain different pretightning forces, is characterized in simple in construction, and rigidity is high, and pretension is reliable and is difficult to relax, but
Middle inconvenience is used to adjust pretightning force at any time；Double-nut threaded adjusts gap type to utilize the external screw thread on a nut, is adjusted by round nut
The position to axial of whole two nuts realizes pretension, locks with another round nut, be characterized in that pretightning force is adjusted after adjusting
Perfect square just, can adjust in using at any time, but can not quantitative fine adjustment nut, axial dimension is long；Double nut tooth difference adjusts gap type two
Respectively be shaped with roller gear on the flange of individual nut, both numbers of teeth one tooth of difference, and load in ring gear, ring gear screw or
Alignment pin is fixed on sleeve, during adjustment, first takes off the ring gear at two ends, when equidirectional relative to sleeve turn of two ball nuts
During the dynamic identical number of teeth, a ball nut produces relative displacement to another ball nut, so that ball nut is relative to rolling
The spiral rolling track relative movement of ballscrew, reaches eliminate gap and apply the purpose of pretightning force, is characterized in realizing precision micro-
Adjusting, pretension reliably will not relax, and adjusts pretightning force convenient, but processing and assembly technology are complicated.
Modern pre-tension method mainly has electric magnet dynamically to control pretension and piezoelectric actuator pretension；Electric magnet is dynamic
Control the mechanism of ball-screw pretightning force, by control the electric current in input electromagnet coil control electric magnet and magnetizing mediums it
Between magnetic force, it is achieved the control to the pretightning force on ball-screw, but often in default of the low-dimensional magnet of sufficiently large magnetic force,
Thus cause peripheral components to be easily magnetized, it is easily generated eddy current；Piezoelectric actuator adjusts the mechanism of ball-screw pretightning force, defeated
Exert oneself and displacement is relatively small, and stepped construction makes it be produced when affecting by external force to drift about.
For above-mentioned analysis, traditional ball-screw firmly beforehand means cannot realize kinetic measurement and the control of pretightning force, in advance
The size of clamp force is adjusted to a fixed value when Product Assembly, can not adjust in real time with the change of external loading in the course of the work
Whole, can not accurately compensate for because of abrasion and heating deformation cause transmission gap change, it is impossible to meet high accuracy, stable
Machine driving requirement；Although modern firmly beforehand means achieves the dynamic adjustment of pretightning force, but by various during using
Condition limits, it is impossible to by wide popularization and application.Along with Digit Control Machine Tool, machining center are constantly sent out to high speed, direction high-precision, efficient
Exhibition, proposes the highest requirement to ball screw assembly, preload Technique.
Chinese patent literature CN204512340U discloses the double nut ball screw assembly, that a kind of pretightning force is controlled, including silk
Thick stick and two feed screw nuts, two feed screw nuts are both connected on leading screw, and one of them feed screw nut is provided with pre-load nut,
It is connected between another feed screw nut with pre-load nut and has the ultra-magnetic deformation actuator being uniformly distributed circumferentially, each super magnetic
The one end causing expansion actuator arranges a force transducer.Pre-load nut is for arranging the initial pretension of double nut ball screw assembly,
Power, the size of this pretightning force is limited to 1/3rd of load.This double nut ball screw assembly, uses stretching of giant magnetostrictive rod
Contracting increases or reduces the pretightning force between leading screw and two nuts, it is achieved that the automatic pretension of ball-screw, safe and reliable, improves
The precision stability of ball-screw auxiliary driving and reliability.Although the controlled double nut ball screw assembly, of this pretightning force can realize
The automatic adjustment of ball screw assembly, pretightning force, but can not realize pretightning force from perception, ultra-magnetic deformation actuator and spiral shell
The force transducer arranged between mother adds to be installed and the complexity of design.
Chinese patent literature CN104565253U discloses a kind of automatic pre-tightening apparatus of double nut ball screw assembly, including pre-
Tight device and driving power supply, preloader includes ultra-magnetic telescopic cylinder, excitation coil, initial pretension bolt and force transducer；Super magnetic
Cause between two nuts that flexible cylinder was sleeved on the leading screw of double nut ball screw assembly, and was in double nut ball screw assembly,
It is provided with force transducer between ultra-magnetic telescopic cylinder and a nut, a nut arranges initial pretension bolt；Excitation
Coil is placed in the outside of ultra-magnetic telescopic cylinder by bobbin, and between two nuts of double nut ball screw assembly, connection has anti-
The stud that only two feed screw nuts relatively rotate；Excitation coil is connected with driving the digital-control constant-flow source in power supply；Drive electricity
Source, including microprocessor, D/A converter, digital-control constant-flow source and a/d converter.This patent achieves the automatic pretension of ball-screw, peace
Complete reliable, it is achieved that the automatization of ball-screw pretension adjusts.But this patent documentation can not realize pretightning force from perception.
As can be seen here, in the prior art, the control to ball screw assembly, has only reached automatization and has adjusted the journey of pretightning force
Degree, can not realize automatization adjust before to ball screw assembly, pretightning force from perception；Additionally, it is existing to ball-screw
Secondary automatic pre-tightening apparatus structure is complicated, adds the difficulty installed and used.
Summary of the invention
The present invention is to solve the problems referred to above, overcome existing ball screw assembly, pretightning force controllable device can not realize pretightning force
From perceptive function and baroque problem, it is proposed that a kind of ball screw assembly, pretightning force observing and controlling system having from perceptive function
System and method.
To achieve these goals, the present invention adopts the following technical scheme that
A kind of ball screw assembly, pretightning force TT&C system having from perceptive function, including pre-tightening apparatus and measure and control device,
Wherein:
Described pre-tightening apparatus is the symmetrical structure of both-end output, and including giant magnetostrictive rod, described giant magnetostrictive rod is pacified
Being loaded on coil rack center, described coil rack outer felt is wound with pick-up winding and excitation coil, the outside of described excitation coil
Arranging permanent magnet, described giant magnetostrictive rod two ends are connected with yoke by two pieces of magnetic inductive blocks respectively, described ultra-magnetic telescopic
Rod is cased with axle sleeve outside the magnetic inductive block at two ends, and the outside of every piece of magnetic inductive block is provided with an output ejector pin, described output top
Bar is connected with non-magnetic shell by pre-load nut, be additionally provided with between described output ejector pin and non-magnetic shell butterfly spring and
Position-limiting drum, described position-limiting drum is positioned at the outside of butterfly spring, passes through pre-load nut between described output ejector pin and non-magnetic shell
Adjust butterfly spring and position-limiting drum applies adjustable pretightning force and improves the telescopicing performance of giant magnetostrictive rod.
Described measure and control device, including computer control system, digital-control constant-flow source and analog-digital converter；Described computer controls
System is connected with digital-control constant-flow source, analog-digital converter respectively；Described digital-control constant-flow source connects the excitation coil in pre-tightening apparatus, makes
Being passed through current induced magnetic field in excitation coil, the action of a magnetic field that excitation coil produces is on giant magnetostrictive rod；Described digital-to-analogue turns
Parallel operation is connected with the pick-up winding in pre-tightening apparatus, and described pick-up winding measures the voltage signal of giant magnetostrictive rod, pickup leads
The voltage signal that circle is measured transmits to computer control system through analog-digital converter.
Described permanent magnet is tubular structure, and permanent magnet provides bias magnetic field for giant magnetostrictive rod.
Described non-magnetic enclosure is provided with female thread.
Described giant magnetostrictive rod is arranged between the first feed screw nut of ball screw assembly, and the second feed screw nut, described
First feed screw nut and the second feed screw nut are connected with each other by flat key, and described first feed screw nut and the second feed screw nut pass through
Ball is connected with leading screw, and the output ejector pin at described giant magnetostrictive rod two ends is respectively by locking nut, stud and the first leading screw
Nut, the second feed screw nut connect, and are provided with pad between described locking nut and the first feed screw nut, the second feed screw nut.
During pre-tightening apparatus works, giant magnetostrictive rod uses combined drive mode: permanent magnet produces perseverance
Fixed magnetic field provides bias magnetic field for giant magnetostrictive rod, prevents frequency multiplication phenomenon；Excitation coil is the super mangneto of this measure and control device
Extension stem provides driving magnetic field, controls the size of actuator output pretightning force by changing the electric current of excitation coil.
In measure and control device work process, excitation coil is connected with digital-control constant-flow source, exports by adjusting digital-control constant-flow source
The size of electric current changes the size of electric current in excitation coil.The change of electric current can cause the change of driving magnetic field in excitation coil,
And then control giant magnetostrictive rod acts on the size of the pretightning force between the first feed screw nut and the second feed screw nut, at this moment
Giant magnetostrictive rod is actuator, and the first feed screw nut and the second feed screw nut produce the anti-work of pretightning force to giant magnetostrictive rod
Firmly, the counteracting force of pretightning force is applied to again on giant magnetostrictive rod, causes pcrmeability in giant magnetostrictive rod to change, at this moment
Giant magnetostrictive rod as sensor, the pcrmeability after change excitation coil is coupled by giant magnetostrictive rod after magnetic strength
Answering intensity to change, the change of magnetic induction is measured by the pick-up winding in pre-tightening apparatus and is obtained, and pick-up winding exports
Be reaction magnetic induction change voltage signal, voltage signal feeds back to computer control system through analog-digital converter, picks up
Line taking circle by obtain the magnetic field that causes of pretightning force change change realize ball screw assembly, pretightning force from perceptive function.Control system
Unite and realized the control of output pretightning force by the size changing digital-control constant-flow source output electric current.
Control method based on said system, concrete steps include:
(1) computer control system presets target pretightning force, target pretightning force is passed through computer control system
In feedforward against compensating controller, eliminate the non-linear disturbance to power output of mangneto that giant magnetostrictive rod is intrinsic；
(2) the leading screw pretightning force measure and control device pickup that will calculate in the computer control system of target pretightning force and feedback
The actual pretightning force of coil self perception compares acquisition control deviation, by control deviation by fractional order PIλDμController, disappears
The error produced by unknown disturbances in the course of the work except ball screw assembly, pretightning force measure and control device；
(3) by the result in step (1) and the result summation in step (2), adjust in digital-control constant-flow source defeated according to result
Go out the size of current in excitation coil, and then finally make that the High power output of ball-screw pretightning force TT&C system is little meets pretension
Requirement.
In described step (1), the inverse compensating controller of feedforward uses existing feedforward principle, eliminates disturbance based on disturbance
Impact on controlled device, regards as defeated non-linear for intrinsic for giant magnetostrictive rod magnetic hysteresis in leading screw pretightning force measure and control device
A kind of disturbance action gone out, is calculated the inverse hysteresis model of system by the magnetic hysteresis nonlinear model of system, true further according to inversion model
Determine the control parameter of feedforward controller, it is achieved to magnetic hysteresis compensation of nonlinearity.
In described step (2), described fractional order PIλDμController one has five parameters KP、KI、KD, λ and μ, wherein KP、
KI、KDBeing ratio, integration, the differential gain respectively, λ and μ is the fractional order factor of integral term and differential term.
The invention have the benefit that
(1) present invention is with giant magnetostrictive material as core, and the positive back wash effect utilizing material to have realizes actuator and biography
Sensor function.Cylindrical shape permanent magnet provides bias magnetic field for giant magnetostrictive rod, and a coil is this survey as excitation coil
The ultra-magnetic deformation actuator of control device provides driving magnetic field, controls actuator output pretension by changing the electric current of excitation coil
The size of power, the magnetic field change that another one coil causes by obtaining pretightning force change as pick-up winding realizes ball-screw
Secondary pretightning force from perceptive function；
(2) control method of the present invention achieves the output of accurate pretightning force and controls, use the inverse compensating controller of feedforward with
The control method that Fractional Order PID feedback controller combines, not only can eliminate the shadow of the intrinsic disturbance of giant magnetostrictive rod
Ring, the error of the unknown disturbances generation that native system receives in the course of the work can also be eliminated simultaneously.
(3) present invention can realize ball screw assembly, pretightning force and can realize again the most accurately control of pretightning force from perception
System, improves the transmission accuracy of ball screw assembly, makes the running precision of Digit Control Machine Tool and crudy be guaranteed.
Accompanying drawing explanation
Fig. 1 is the structural representation of pre-tightening apparatus in the present invention；
Fig. 2 is the structural representation of measure and control device in the present invention；
Fig. 3 is the control method schematic diagram in the present invention；
Wherein, 1-output ejector pin, 2-pre-load nut, the non-magnetic shell of 3-, 4-butterfly spring, 5-position-limiting drum, 6-yoke, 7-
Permanent magnet, 8-excitation coil, 9-coil rack, 10-axle sleeve, 11-giant magnetostrictive rod, 12-pick-up winding, 13-magnetic inductive block,
14-locking nut, 15-pad, 16-the first feed screw nut, 17-stud, 18-flat key, 19-the second feed screw nut, 20-leading screw,
21-ball.
Detailed description of the invention:
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Embodiment:
A kind of ball screw assembly, pretightning force TT&C system having from perceptive function, including pre-tightening apparatus and measure and control device,
Wherein:
Pre-tightening apparatus structural representation as shown in Figure 1, described pre-tightening apparatus is the symmetrical structure of both-end output, including surpassing
Magnetostrictive rod 11, described giant magnetostrictive rod 11 is installed on coil rack 9 center, and described coil rack 9 outer felt is wound with picks up
Line taking circle 12 and excitation coil 8, the outside of described excitation coil 8 arranges permanent magnet 7, and described giant magnetostrictive rod 11 two ends are divided
Tong Guo not be connected with yoke 6 by two pieces of magnetic inductive blocks 13, described giant magnetostrictive rod 11 is outside with the magnetic inductive block 13 at two ends is cased with axle sleeve
10, the outside of every piece of magnetic inductive block 13 is provided with an output ejector pin 1, and described output ejector pin 1 passes through pre-load nut 2 with non-magnetic
Shell 3 connects, and described non-magnetic shell 3 is internally provided with female thread, also sets between described output ejector pin 1 and non-magnetic shell 3
Being equipped with butterfly spring 4 and position-limiting drum 5, described position-limiting drum 5 is positioned at the outside of butterfly spring 4, described output ejector pin 1 with non-magnetic outside
Adjust butterfly spring 4 by pre-load nut 2 between shell 3 and position-limiting drum 5 applies adjustable pretightning force and improves ultra-magnetic telescopic
The telescopicing performance of rod 11.
Described giant magnetostrictive rod 11 be arranged at the first feed screw nut 16 of ball screw assembly, and the second feed screw nut 19 it
Between, described first feed screw nut 16 is connected with each other by flat key 18 with the second feed screw nut 19, described first feed screw nut 16 with
Second feed screw nut 19 is connected with leading screw 20 by ball 21, and the output ejector pin 1 at described giant magnetostrictive rod 11 two ends leads to respectively
Cross locking nut 2, stud 17 is connected with first feed screw nut the 16, second feed screw nut 19, described locking nut 2 and the first leading screw
It is provided with pad 15 between nut the 16, second feed screw nut 19.
Described permanent magnet 7 is tubular structure, and permanent magnet 7 produces constant magnetic field and provides inclined for giant magnetostrictive rod 11
Put magnetic field.
During pre-tightening apparatus works, giant magnetostrictive rod 11 uses combined drive mode: permanent magnet 7 produces
Constant magnetic field provides bias magnetic field for giant magnetostrictive rod 11, prevents frequency multiplication phenomenon；Excitation coil 8 is the super of this measure and control device
Magnetostrictive rod 11 provides driving magnetic field, exports pretightning force by changing the electric current control giant magnetostrictive rod 11 of excitation coil
Size.
The structural representation of measure and control device in the present invention as shown in Figure 2, described measure and control device, control system including computer
System, digital-control constant-flow source and analog-digital converter；Described computer control system is connected with digital-control constant-flow source, analog-digital converter respectively；
Described digital-control constant-flow source connects the excitation coil in pre-tightening apparatus, makes to be passed through in excitation coil current induced magnetic field, excitation coil
The action of a magnetic field produced is on giant magnetostrictive rod；Described analog-digital converter is connected with the pick-up winding in pre-tightening apparatus, described
The voltage signal of giant magnetostrictive rod measured by pick-up winding, and the voltage signal that pick-up winding is measured transmits extremely through analog-digital converter
Computer control system.
During measure and control device works, the signal that digital-control constant-flow source exports according to computer control system adjusts excitation
The control electric current I of coil, the electric current I that excitation coil flows through change causes the change of magnetic field H, and the action of a magnetic field of change is to super magnetic
Cause to cause on extension stem the change of giant magnetostrictive rod displacement, because two ends the first feed screw nut 16 and the second feed screw nut 19
Mechanical constraint produces different pretightning forces F；Meanwhile, the first feed screw nut 16 and the second feed screw nut 19 are to giant magnetostrictive rod 11
The counteracting force F ' producing pretightning force is applied to again on giant magnetostrictive rod 11, causes changing of giant magnetostrictive rod 11 pcrmeability
Becoming, the pcrmeability after giant magnetostrictive rod 11 change makes excitation coil 8 by the magnetic induction after giant magnetostrictive rod 11 coupling
Intensity B changes, and is measured the magnetic induction density B of change by pick-up winding 12, and pick-up winding 12 output is reaction magnetic strength
Answering the voltage signal that intensity B changes, voltage signal is converted to digital signal through analog-digital converter and flows to computer control system,
And then calculate the intensity of magnetization on magnetic induction and giant magnetostrictive rod, solve the pretightning force of ball screw assembly, here
The power solved is the power output of ball screw assembly, pre-tightening apparatus, according to the error size of target pretightning force Yu power output, determines
Computer control system is transferred to the output of digital-control constant-flow source and controls current signal, this control electric current I adjust excitation coil
Magnetic field H, finally makes that the High power output of ball-screw pretightning force TT&C system is little meets pretension requirement.
A kind of have use control method as shown in Figure 3 real from the ball screw assembly, pretightning force TT&C system of perceptive function
Now accurate pretightning force output controls, and this control method combines inverse compensation of feedovering and controls and feedback control, in feedforward against compensating
Control uses the inverse compensating controller of feedforward, feedback control uses fractional order PIλDμController, concrete steps include:
(1) the inverse compensation of feedforward controls: presets target pretightning force in computer control system, target pretightning force is passed through
Feedforward in computer control system against compensating controller, eliminates the intrinsic mangneto of giant magnetostrictive rod non-linear to power output
Disturbance；
(2) feedback control: the leading screw pretightning force calculated in the computer control system of target pretightning force and feedback is surveyed
The actual pretightning force of control self perception of device pick-up winding compares acquisition control deviation, by control deviation by fractional order PIλDμ
Controller, eliminates the error that ball screw assembly, pretightning force measure and control device is produced by unknown disturbances in the course of the work；
(3) by the result in step (1) and the result summation in step (2), adjust in digital-control constant-flow source defeated according to result
Go out the size of current in excitation coil, and then finally make that the High power output of ball-screw pretightning force TT&C system is little meets pretension
Requirement.
In described step (1), the inverse compensating controller of feedforward uses existing feedforward principle, eliminates disturbance based on disturbance
Impact on controlled device, has in the ball screw assembly, pretightning force TT&C system of perceptive function ultra-magnetic telescopic a kind of
The non-linear a kind of disturbance action regarded as output of magnetic hysteresis that rod is intrinsic, is calculated system by the magnetic hysteresis nonlinear model of system
Inverse hysteresis model, determines the control parameter of feedforward controller, it is achieved to magnetic hysteresis compensation of nonlinearity further according to inversion model.
In described step (2), feedback controller uses fractional order PIλDμController, is mainly used to eliminate leading screw pretightning force and surveys
The error produced by unknown disturbances during control device busy, target pretightning force is picked up with by leading screw pretightning force measure and control device
The actual pretightning force of coil self perception compares acquisition control deviation, corrects ball-screw pretightning force observing and controlling by this error
The response of system, performs fractional order PIλDμThe regulation of controller controls, fractional order PIλDμThe structure of controller such as Fig. 3 dotted line frame
Shown in, described fractional order PIλDμController one has five parameters KP、KI、KD, λ and μ, wherein KP、KI、KDBe respectively ratio,
Integration, the differential gain, λ and μ is the fractional order factor of integral term and differential term.More than compared with the PID controller of classical integer rank
Two customized parameter λ and μ.Therefore, fractional order PIλDμController is for having nonlinear characteristic based on giant magnetostrictive material
Ball-screw pretightning force control system, add range of accommodation to the control of controll plant more flexibly and accurately, obtain
Obtain the ratio conventional integer rank more preferable dynamic property of PID controller, improve the robustness of ball-screw pretightning force system and overall
Control performance.
Although the detailed description of the invention of the present invention is described by the above-mentioned accompanying drawing that combines, but not the present invention is protected model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme, and those skilled in the art are not
Need to pay various amendments or deformation that creative work can make still within protection scope of the present invention.
Claims (7)
1. there is the ball screw assembly, pretightning force TT&C system from perceptive function, including pre-tightening apparatus and measure and control device, its
Feature is:
Described pre-tightening apparatus is the symmetrical structure of both-end output, and including giant magnetostrictive rod, described giant magnetostrictive rod is installed on
Coil rack center, described coil rack outer felt is wound with pick-up winding and excitation coil, and the outside of described excitation coil is arranged
Permanent magnet, described giant magnetostrictive rod two ends are connected with yoke by two pieces of magnetic inductive blocks respectively, described giant magnetostrictive rod and
Being cased with axle sleeve outside the magnetic inductive block at two ends, the outside of every piece of magnetic inductive block is provided with an output ejector pin, and described output ejector pin leads to
Cross pre-load nut to be connected with non-magnetic shell, be additionally provided with butterfly spring between described output ejector pin and non-magnetic shell with spacing
Cylinder, described position-limiting drum is positioned at the outside of butterfly spring, is adjusted by pre-load nut between described output ejector pin and non-magnetic shell
Butterfly spring and position-limiting drum apply adjustable pretightning force and improve the telescopicing performance of giant magnetostrictive rod；
During pre-tightening apparatus works, giant magnetostrictive rod uses combined drive mode: permanent magnet produces constant
Magnetic field provides bias magnetic field for giant magnetostrictive rod, prevents frequency multiplication phenomenon；Excitation coil is the ultra-magnetic telescopic of this measure and control device
Rod provides driving magnetic field, controls the size of actuator output pretightning force by changing the electric current of excitation coil；
Described measure and control device, including computer control system, digital-control constant-flow source and analog-digital converter；Described computer control system
It is connected with digital-control constant-flow source, analog-digital converter respectively；Described digital-control constant-flow source connects the excitation coil in pre-tightening apparatus, makes excitation
Being passed through current induced magnetic field in coil, the action of a magnetic field that excitation coil produces is on giant magnetostrictive rod；Described analog-digital converter
Being connected with the pick-up winding in pre-tightening apparatus, the voltage signal of giant magnetostrictive rod measured by described pick-up winding, and pick-up winding is surveyed
The voltage signal of amount transmits to computer control system through analog-digital converter.
A kind of ball screw assembly, pretightning force TT&C system having from perceptive function, is characterized in that:
Described permanent magnet is tubular structure, and permanent magnet provides bias magnetic field for giant magnetostrictive rod.
A kind of ball screw assembly, pretightning force TT&C system having from perceptive function, is characterized in that:
Described non-magnetic enclosure is provided with female thread.
A kind of ball screw assembly, pretightning force TT&C system having from perceptive function, is characterized in that:
Described giant magnetostrictive rod is arranged between the first feed screw nut of ball screw assembly, and the second feed screw nut, described first leading screw
Nut and the second feed screw nut are connected with each other by flat key, and described first feed screw nut and the second feed screw nut are by ball and silk
Thick stick connects, the output ejector pin at described giant magnetostrictive rod two ends respectively by locking nut, stud and the first feed screw nut, second
Feed screw nut connects, and is provided with pad between described locking nut and the first feed screw nut, the second feed screw nut.
5. control method based on the system as according to any one of claim 1-4, is characterized in that: concrete steps include:
(1) the inverse compensation of feedforward controls: preset target pretightning force in computer control system, by target pretightning force by calculating
Feedforward in machine control system against compensating controller, eliminates that the intrinsic mangneto of giant magnetostrictive rod is non-linear disturbs power output
Dynamic；
(2) feedback control: pick-up winding self perception that will calculate in the computer control system of target pretightning force and feedback
Actual pretightning force compare acquisition control deviation, by control deviation by fractional order PIλDμController, eliminates ball screw assembly,
The error that pretightning force measure and control device is produced by unknown disturbances in the course of the work；
(3) by the result in step (1) and the result summation in step (2), adjust digital-control constant-flow source exports according to result and arrive
Size of current in excitation coil, and then finally make that the High power output of ball-screw pretightning force TT&C system is little to be met pretension and want
Ask.
6. control method as claimed in claim 5, is characterized in that: in described step (1), and the inverse compensating controller of feedforward has used
There is feedforward principle, eliminate the disturbance impact on controlled device based on disturbance, super in leading screw pretightning force measure and control device
The non-linear a kind of disturbance action regarded as output of magnetic hysteresis that magnetostriction stick is intrinsic, by the magnetic hysteresis nonlinear model meter of system
The inverse hysteresis model of calculation system, determines the control parameter of feedforward controller, it is achieved nonlinear to magnetic hysteresis further according to inversion model
Compensate.
7. control method as claimed in claim 5, is characterized in that: in described step (2), described fractional order PIλDμController one
Have five parameters KP、KI、KD, λ and μ, wherein KP、KI、KDBeing ratio, integration, the differential gain respectively, λ and μ is integral term and micro-
The fractional order factor of subitem.
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| CN109235686A (en) * | 2018-09-29 | 2019-01-18 | 山东大学 | A kind of rotary magnetic negative stiffness vibration absorber |
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| CN110153735A (en) * | 2019-06-17 | 2019-08-23 | 鲁东大学 | A kind of ball-screw workbench of adjustable preload |
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| CN112016196B (en) * | 2020-08-11 | 2022-08-30 | 西北工业大学 | Double-nut planetary roller screw dynamics research method based on elastic deformation |
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