FxMy力位混合伺服两轴插补数控工作台的设计.doc

编号： 　　　 本科毕业论文（设计） 题目： Fx/My力-位混合伺服两轴插补数控工作台的设计 专 业 机械设计制造及其自动化 学 号 074090126 姓　 名 舒晓模 指导教师 詹建明 完成日期 2011.5.12 宁波大学机械工程与力学学院 诚 信 承 诺 我谨在此承诺：本人所写的毕业论文《Fx/My力-位混合伺服两轴插补数控工作台的设计》均系本人独立完成，没有抄袭行为，凡涉及其他作者的观点和材料，均作了注释，若有不实，后果由本人承担。 承诺人（签名）：舒晓模 2011 年 5 月 12 日 摘　要 【摘要】目前，最成功且接近实用的柔顺控制策略是力、位混合控制。这种策略将任务空间划分成了两个正交的子空间即力控制子空间和位置控制子空间，在力控制子空间中用力控制策略进行力控制，在位置控制子空间利用位置控制策略进行位置控制。力／位混合控制策略与传统的阻抗控制策略是不同的Fx/My?force?and?position??hybrid?servo?two?axis?interpolation?nc?working?table?design 【ABSTRACT】At present, the most successful and close to practical compliant control strategy is force and position hybrid control.This strategy will be divided into two orthogonal space. The subspaces are named force control subspace and the position control subspace. In force control subspace use force control strategy for force control and in the position control subspace use position control strategy for position control. Force and position hybrid control strategy is different from traditional control strategy.Impedance control is a kind of indirect control method, its core thought is turning the force error signal into a position loop, controller adjust quantity input signal added to the position control input, the adjustment realize force position. The force and position hybrid control method’s core ideas is different control strategies respectively for position and force directly control, namely through selecting matrix determine the current first contact point position control and force control direction ,and then applied force feedback information and position feedback information respectively in position loop and force loop used for closed-loop control, eventually in restricted movement realize control force and position. 【KEYWORDS】Servo ；two axis interpolation；NC workbench；spring. 摘　要 III 目　录 V 1引言 1 2伺服两轴插