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Torque Feedforward Control of the Parallel Spindle Head Feed Axes

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Advances in Mechanism, Machine Science and Engineering in China (CCMMS 2022)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

The hybrid machine tool based on parallel spindle heads can efficiently process complex parts, but the load of the feed axes of the spindle head has the characteristics of nonlinear and coupling, which brings difficulties to the control. In this paper, the contour error of the tool center point (TCP) is greatly reduced by the method of dynamic modeling and feedforward. Specifically, the kinematic modeling is performed using the vector loop method, the dynamic modeling is performed using the virtual work principle, and the frictional force modeling is performed using the Stribeck model to obtain the dynamic model of the spindle head. The servo system of the feed axis is modeled and then the torque feedforward module is designed. Finally, in MATLAB/Simulink simulation, torque feedforward effectively reduces the contour error of TCP. Based on the analysis of the simulation results, the load torque of the parallel spindle head has the characteristics of nonlinearity and coupling. The evaluation index LCE (load caused error) is proposed, and the load torque mainly causes errors during acceleration, deceleration and commutation.

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Acknowledgements

Supported by National Natural Science Foundation of China (Grant Nos. 51975319 and 51905302).

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Authors and Affiliations

  1. State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Liping Wang, Xiangyu Kong & Guang Yu

  2. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipment and Control, Beijing, 100084, China

    Liping Wang, Xiangyu Kong & Guang Yu

Authors
  1. Liping Wang
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  2. Xiangyu Kong
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  3. Guang Yu
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Corresponding author

Correspondence to Guang Yu .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, China

    Xinjun Liu

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Wang, L., Kong, X., Yu, G. (2023). Torque Feedforward Control of the Parallel Spindle Head Feed Axes. In: Liu, X. (eds) Advances in Mechanism, Machine Science and Engineering in China. CCMMS 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-9398-5_86

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  • DOI: https://doi.org/10.1007/978-981-19-9398-5_86

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-9397-8

  • Online ISBN: 978-981-19-9398-5

  • eBook Packages: EngineeringEngineering (R0)

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