Explicit Force Control of a Cutting-Force Simulator for Numerical Control Machine Tools

FAN Rui; WAN Yinghe; WANG Dan; GUO Jiangzhen

doi:10.16080/j.issn1671-833x.2017.06.016

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Explicit Force Control of a Cutting-Force Simulator for Numerical Control Machine Tools

更新时间：2026-04-17

- Explicit Force Control of a Cutting-Force Simulator for Numerical Control Machine Tools
- Aeronautical Manufacturing Technology Vol. 60, Issue 6, Pages: 16-21(2017)
- 作者机构：
  
  北京航空航天大学机械工程及自动化学院,北京,100191
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2017.06.016
  CLC：
- Published：2017
- 稿件说明：
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樊　锐，万英和，王　丹，郭江真. 数控机床切削力负载模拟器的显式力控制算法设计*[J]. 航空制造技术, 2017, 60(6): 16-21.

FAN Rui, WAN Yinghe, WANG Dan, GUO Jiangzhen. Explicit Force Control of a Cutting-Force Simulator for Numerical Control Machine Tools. Aeronautical Manufacturing Technology, 2017, 60(6): 16-21.
樊　锐，万英和，王　丹，郭江真. 数控机床切削力负载模拟器的显式力控制算法设计*[J]. 航空制造技术, 2017, 60(6): 16-21. DOI： 10.16080/j.issn1671-833x.2017.06.016.

FAN Rui, WAN Yinghe, WANG Dan, GUO Jiangzhen. Explicit Force Control of a Cutting-Force Simulator for Numerical Control Machine Tools. Aeronautical Manufacturing Technology, 2017, 60(6): 16-21. DOI： 10.16080/j.issn1671-833x.2017.06.016.

摘要

为了对数控机床进行可靠性试验，设计了一种基于3P-(4S) 并联机构的负载模拟器。基于PI 反馈控制的显式力控制算法，并引入了模糊控制器，提高系统对不同加载误差的适应性。在控制系统中引入了力前馈控制器，提高控制系统的动态性能，减少实际加载力的滞后。同时，由于加载目标即机床主轴的进给运动轨迹未知，因此引入了主轴位置预测前馈以进行运动补偿，减少主轴运动所带来的干扰。最后设计并实施了静态与动态负载模拟试验，验证了所提控制算法的有效性。

Abstract

For reliability tests of machine tools

a load simulator based on a 3P-(4S) parallel mechanism is proposed. An explicit force control system is designed based on a proportional-integral (PI) controller. A fuzzy logic is introduced to adapt various following errors of output forces. A force feedforward is integrated to the system to develop its dynamic performance and decrease the hysteresis of the output forces. Meanwhile

a position feedforward that predicted the position of the spindle is designed to eliminate the disturbance caused by the unknown feeding motions of the spindle. Loading experiments is conducted on a stationary and a moving spindle

respectively

to validate the feasibility of the proposed control system.

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