Abstract：A type of PID control feed servo system of CNC machine tools is considered. The effects of the nonlinear friction on the stability of the system are investigated. A SDOF equivalent model of the system with nonlinear friction is established by adopting a new continuous friction model. At the same time, the load disturbance is also considered. Based on Taylor series expansion, the nonlinear friction model in the slip region is linearized. And thus, the analytic expression of the system stability criterion is given. It can be applied to determine PID control parameters to avoid instability. Both Simulation and experiment demonstrate that the proposed stability criterion is effective. The present analysis provides a simple and effective method for the prediction and reduction of stick slip behavior, which is induced by friction under low velocity feeding.
刘丽兰;刘宏昭;吴子英;原大宁. 低速下机床进给伺服系统稳定性研究 [J]. , 2010, 29(5): 187-190,.
Liu Lilan;Liu Hongzhao;Wuziying;Yuandaning. Research on stability of the feed servo system of machine toolswith low feed velocity . , 2010, 29(5): 187-190,.
2010, Vol. 29 
