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系統識別號 U0026-3003202019413400
論文名稱(中文) 利用力量/溫度感測器對滾珠螺桿系統之定位誤差補償
論文名稱(英文) Compensation on Positioning Error of Ball-Screw System by F/T Sensor
校院名稱 成功大學
系所名稱(中) 機械工程學系
系所名稱(英) Department of Mechanical Engineering
學年度 108
學期 2
出版年 109
研究生(中文) 張友甄
研究生(英文) Yu-Chen Chang
學號 N16060141
學位類別 碩士
語文別 中文
論文頁數 95頁
口試委員 指導教授-蔡南全
口試委員-胡家勝
口試委員-林震銘
中文關鍵字 雙螺帽滾珠螺桿  預壓/溫度感測器  曲線擬合 
英文關鍵字 Double-nut Ball Screw  Preload/Temperature sensor  Curve Fitting 
學科別分類
中文摘要 本研究將針對雙螺帽滾珠螺桿(Double-nut Ball Screw)進行預壓力及溫度對於滾珠螺桿系統的分析與補償,近年來諸多研究顯示預壓力及溫度對於工具機的定位精度影響廣泛而顯著,而在預壓力測量上多以採用加速規量測振動訊號以間接推得球通頻率進行預壓力有無的判斷,較難直觀的判斷預壓力的數值變化。 本研究藉由工業技術研究院開發之超薄型複合感測模組,預壓/溫度感測器(Force/Temperature sensor, F/T sensor),可直接量測滾珠螺桿之預壓力及溫度,透過蒐集並分析預壓力及溫度變化對於滾珠螺桿定位誤差的影響,藉由曲線擬合(Curve fitting)的方式對定位誤差進行補償。 期望透過將左/右螺帽之間的預壓片更換為複合型感測器的方式,取代裝設成本較高且易受工具機振動影響的高精度光學尺,並經由補償的效果削弱因溫度效應及長時間運作導致的摩擦損耗造成對定位精度的影響,經模擬與實驗的方式驗證補償效果,並能在預壓及溫度在一定範圍內變化的條件下仍能使定位精度維持在半條以內。
英文摘要 This research mainly focuses on the analysis and compensation of the double-nut ball screw system based on the sensor signal of preload and temperature. In recent years, many studies have shown that the preload and temperature have a wide and significant impact on the positioning accuracy of machine tools. For the conventional preload measurement, the acceleration signal is used to measure the vibration signal to indirectly apply the ball pass frequency to determine the presence of the preload. But it is difficult to intuitively determine the value of the actual preload. In this research, the ultra-thin composite sensing module, preload/temperature sensor, developed by Industry Technology Research Institute (ITRI) can directly measure the preload and temperature of the ball screw. This research is to collect and analyze the effect of preload and temperature changes on the positioning error of the ball screw, and compensate the positioning error by curve fitting. It is expected to replace the high-precision optical ruler that is costly and easy to be affected by the vibration of the machine tool by replacing the pre-pressing piece between the left/right nut with a composite sensor. The compensation effect weakens the influence on the positioning accuracy caused by the temperature effect and the friction loss caused by long-term operation. The compensation effect is verified through simulations and experiments. It can still be used under the conditions of preload and temperature change within a certain range, by keeping positioning accuracy within 5 micrometers.
論文目次 摘要 I
致謝 V
目錄 VI
表目錄 VIII
圖目錄 IX
符號表 XIII
第一章 緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 2
1.3 研究目的 6
1.4 論文架構 7
第二章 系統模型推導 8
2.1 馬達伺服迴路模型 8
2.1.1 電流迴路控制器 9
2.1.2 速度迴路控制器 10
2.1.3 位置迴路控制器 11
2.2 進給系統模型 12
2.2.1 進給系統各部件介紹 12
2.2.2 運動方程式推導 19
2.2.3 系統參數計算 24
第三章 控制架構設計 32
3.1誤差理論分析 32
3.1.1預壓力對定位誤差的影響 35
3.1.2溫度及進給行程對定位誤差的影響 40
3.2現有技術探討 41
3.3控制系統架構 44
3.3.1 摩擦力模型 48
3.3.2 補償策略 52
第四章 實驗架構與結果 59
4.1 實驗平台架設 59
4.2 實驗結果 65
4.2.1 溫度及預壓對定位精度的影響 65
4.2.2 模擬與實驗結果比對 74
4.2.3 補償前後比對 80
第五章 結論 90
5.1 結論 90
5.2 未來展望 91
參考文獻 92
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