Two-Degree-Of-Freedom Dynamic Model-Based Terminal Sliding Mode Control with Observer for Dual-Driving Feed Stage

Fan, Wei; Lü, Hong; Zhang, Xinbao; Zhang, Yongquan; Zeng, Rong; Liu, Qi

doi:10.3390/sym10100488

Cited by 12 publications

(18 citation statements)

References 27 publications

(27 reference statements)

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“…K nut1 , K nut2 and C nut1 , C nut2 are the screw-nut joint stiffness and damping of the X 1 and X 2 shaft, respectively. Figure 2 shows the model of the TBS feed system which can be formulated based on Lagrange's energy method [23][24][25]. First, the kinetic energy of the system can be computed as follows:…”

Section: Dynamic Equivalent Model Of the Tbs Systemmentioning

confidence: 99%

Dynamic Modeling and Experiment Research on Twin Ball Screw Feed System Considering the Joint Stiffness

et al. 2018

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It is of great significance to study the dynamic characteristics of twin ball screw (TBS) feed system to improve the precision of gantry-type dual-driven computer numerical control (CNC) machine tools. In this paper, an equivalent dynamic model of the TBS feed system is established utilizing lumped mass method considering the stiffness of joints. Equivalent axial stiffness of screw-nut joints and bearing joints are both calculated by Hertz contact theory. Furthermore, a friction model is proposed because the friction force of the screw nut affects the stiffness of the joints. Then, the friction parameters are obtained by using the nonlinear system identification method. Meanwhile, a finite element model (FEM) is developed to assess the dynamic characteristics of TBS feed system under the stiffness of joints. Finally, validation experiments are conducted, and the results show that the positions of the nut and the velocities of worktable greatly affect the dynamic characteristics of the TBS feed system. Compared with the theoretical calculation, FEM and experiments indicate that the dynamic modeling proposed in this article can reach a higher accuracy.

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Section: Dynamic Equivalent Model Of the Tbs Systemmentioning

confidence: 99%

Dynamic Modeling and Experiment Research on Twin Ball Screw Feed System Considering the Joint Stiffness

et al. 2018

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“…As shown in Figure 1, a typical DDFM consists of dual motors, dual ball-screws, nuts, linear guides, sliders, bearings, moving parts and worktable or crossbeam, and it is widely used in high precision industrial equipment such as gantry-type machine tools and rectangular coordinate robots. 1,2 Due to high transmission efficiency, low sensitivity to external perturbations, high axial stiffness and long operating life, ball-screw, the transmission unit, is generally used in the feed system for high-speed Computer Numerical Control (CNC) machine tools. 3,4 The dynamic characteristics of the feed system play an important role in control performance and machining accuracy.…”

Section: Introductionmentioning

confidence: 99%

Dynamic characteristics and research on the dual-drive feed mechanism

Lü

Liu

Zhang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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The dual-drive feed mechanism (DDFM) based on the drive at the center of gravity (DCG) principle has been widely adopted in computer numerical control (CNC) machines and industrial robots that require high precision and high stability. The friction force affected by feed rates and moving parts positions can change the contact stiffness of kinematic joints, which can further impact on dynamic characteristics of the DDFM and cause dual axes difference. Considering the contact stiffness of kinematic joints, this paper adopts the lumped parameter method to establish the general dynamic model of the DDFM. The equivalent axial stiffness of kinematic joint and feed system transmission stiffness are all derived regarding the influence of feed rates and moving parts positions. The dynamic experiments on the DDFM with different feed rates and moving parts positions are carried out to verify the proposed model. The results suggest that in the motion stage, the DDFM’s natural frequency is greater than that in the static stage, and behaves differently in different feed rates and moving parts positions. The axial contact stiffness value of the ball-screw and nut B can reach 0 when the feed rate increases. When the moving parts are in the middle position of the crossbeam, the DDFM is the most stable and the dynamic performance is the best.

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“…The dual-motor coupling drive system (DCDS) is a popular research topic in the field of electric vehicles [4]. Compared with a normal single-motor driving axle system, the DCDS, which adopts two motors rather than a high-peak-power motor, can significantly improve a vehicle's dynamic performance and energy efficiency [5].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Vibration Characteristics Analysis of Transmission Process for Dual-Motor Coupling Drive System

Fan

Yang

2020

Symmetry

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The dual-motor coupling drive system (DCDS), which is widely used in electric vehicles, has attracted increasing attention due to its high transmission efficiency and economical fuel consumption. Current research has mainly focused on the control scheme of dual motors and has ignored the dynamic characteristics of the asymmetrical transmission structure. This paper presents an investigation of a dynamic model and an analysis method of the transmission process for the DCDS. The entire dynamic model of the DCDS was established by considering the planetary gear, differential bevel gear, and drive shaft with the transfer matrix method (TMM). Then, a detailed theoretical analysis was developed to study the influence of meshing stiffness and excitation source on the dynamic characteristics. Finally, the DCDS experimental platform was utilized to validate the effectiveness of the proposed dynamic model. For susceptibility to low-frequency vibrations, the first four natural frequencies and vibration modes of the DCDS were analyzed through the processing and analysis of acceleration signals. The experimental dynamic responses were generally consistent with the numerically computed results, which demonstrates the effectiveness of the proposed dynamic model with TMM. Furthermore, the proposed dynamic analysis method may be helpful for developing effective control algorithms to suppress vibrations and achieving highly smooth motions for electric vehicles.

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Two-Degree-Of-Freedom Dynamic Model-Based Terminal Sliding Mode Control with Observer for Dual-Driving Feed Stage

Cited by 12 publications

References 27 publications

Dynamic Modeling and Experiment Research on Twin Ball Screw Feed System Considering the Joint Stiffness

Dynamic Modeling and Experiment Research on Twin Ball Screw Feed System Considering the Joint Stiffness

Dynamic characteristics and research on the dual-drive feed mechanism

Dynamic Modeling and Vibration Characteristics Analysis of Transmission Process for Dual-Motor Coupling Drive System

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