[1]张 韬,谢 丽.融合IBFO-LuGre与降阶观测器的机床进给机构动态性能优化控制[J].机械与电子,2026,44(08):73-81.
　ZHANG Tao,XIE Li.Optimization Control of Dynamic Performance of Machine Tool Feed Mechanism Integrating IBFO-LuGre and Reduced Order Observer[J].Machinery & Electronics,2026,44(08):73-81.

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融合IBFO-LuGre与降阶观测器的机床进给机构动态性能优化控制()

分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:

44

期数:

2026年08期

页码:

73-81

栏目:

智能制造

出版日期:

2026-08-25

文章信息/Info

Title:

Optimization Control of Dynamic Performance of Machine Tool Feed Mechanism Integrating IBFO-LuGre and Reduced Order Observer

文章编号:

1001-2257(2026)08-0073-09

作者:

张 韬; 谢 丽

昆明铁道职业技术学院机电工程学院,云南 昆明 650208

Author(s):

ZHANG Tao; XIE Li

(School of Mechanical and Electrical Engineering,Kunming Railway Vocational and Technical College,Kunming 650208,China)

关键词:

机床进给机构; LuGre模型; 改进细菌觅食算法; 降阶扩张状态观测器; 前馈补偿; 动态性能优化

Keywords:

machine tool feed mechanism; LuGre model; improved bacterial foraging optimization; reduced-order extended state observer; feedforward compensation; dynamic performance optimization

分类号:

TG659

文献标志码:

A

摘要:

机床进给机构的摩擦非线性易引发预滑动刚度突变与Stribeck负阻尼效应,导致速度过零区跟踪误差陡增及动态响应性能下降。为此,提出一种融合改进细菌觅食算法(IBFO)与降阶扩张状态观测器(RESO)的LuGre模型前馈补偿控制策略,实现对进给机构的动态性能优化控制。首先,建立进给机构的LuGre摩擦模型,并采用IBFO 算法分阶段优化模型静态与动态参数,实现对预滑动刚度突变及Stribeck效应的精准刻画。基于优化后的模型,设计前馈补偿力矩以实时抵消摩擦反向力矩,抑制速度过零区的跟踪误差。然后引入RESO 在线估计由参数摄动及未建模动态引起的总扰动,并通过补偿电流实时抑制,消除Stribeck负阻尼引发的振荡与相位滞后,最终在位置环与速度环实现近零超调与带宽显著提升,改善动态响应性能。实验结果表明:该方法显著提升了位置环与速度环的响应带宽和平稳性,超调量分别降至0.14%和0.09%,优于对比方法;在速度过零区,最大动态跟踪误差与速度波动率均显著降低,尤其在高速和极低速工况下表现优异;同时,在加减速复合轨迹工况下仍能保持极低的跟踪误差与速度波动率,有效增强了机床进给机构在动态工况下的鲁棒性与动态性能。

Abstract:

The frictional nonlinearity of the machine tool feed mechanism can easily cause sudden changes in presliding stiffness and Stribeck negative damping effect,leading to sharp increases in tracking error within the velocity zero-crossing region and degradation of dynamic response performance.To address this issue,a feedforward compensation control strategy that integrates the LuGre friction model,optimized by an improved bacterial foraging optimization (IBFO) algorithm with a reduced-order extended state observer(RESO),is proposed to achieve dynamic performance optimization of the feed mechanism.Firstly,a LuGre friction model for the feed mechanism is established,and the IBFO algorithm is adopted to optimize the static and dynamic parameters of the model in a staged manner,enabling an accurate characterization of presliding stiffness variation and the Stribeck effect.Based on the optimized model,a feedforward compensation torque is designed to counteract the frictional reverse torque in real time and suppress the tracking errors in the zero-crossing zone of the speed.Then,a RESO is introduced to estimate the total disturbance caused by parameter perturbations and unmodeled dynamics online,which is further suppressed in real time through compensation current to eliminate oscillations and phase lag induced by Stribeck negative damping. Consequently,near-zero overshoot and significant bandwidth improvement are achieved in both the position and velocity loops to substantially improve dynamic response performance.The experimental results show that this proposed method significantly improves the response bandwidth and stability of the position and velocity loops,reducing overshoot to 0.14% and 0.09%,respectively,which is superior to the comparative methods.In the zero-crossing speed zone,the maximum dynamic tracking error and speed fluctuation rate are markedly reduced,with especially excellent performance under high speed and extremely low-speed operating conditions.Moreover,under the conditions of compound acceleration/deceleration trajectory,the method maintains extremely low tracking error and speed fluctuation rate,effectively enhancing the robustness and dynamic performance of the machine tool feed mechanism under dynamic operating conditions.

备注/Memo

备注/Memo:

收稿日期:2026-04-07

基金项目:云南省教育厅科学研究基金项目(2025J1848)

作者简介:张 韬 (1971-),男,湖南湘潭人,正高级工程师,研究方向为数控技术、机床自动化优化控制;谢 丽 (1983-),女,云南昆明人,硕士,讲师,研究方向为电气自动化控制技术。

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