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液体静压导轨系统实质是非线性系统,在分析其动态特性时通常被简化为线性系统,然而目前还未见关于对线性化导致的误差进行研究的文献。以PM控制器调节下的开式静压导轨为对象,推导了导轨关于压力、流量的非线性微分方程组。一方面,对导轨支承系统进行线性化处理,利用Laplace变换的方法获得了系统的传递函数,并绘制了系统的阶跃响应和脉冲响应曲线。另一方面,利用Simulink工具箱搭建了非线性系统的框图,并绘制了系统的阶跃响应和脉冲响应曲线。对比2种方法得到的响应曲线,线性化的系统与原系统的响应曲线差别很小,精度能够满足正常的工程需要,表明线性化处理对于PM控制器调节下的开式静压导轨是可行的。因此对静压导轨进行了动态性能分析,绘制了幅频、相频、动刚度曲线图。所做研究为线性化处理使用PM控制器的开式静压支承系统提供了理论依据,为工程实际提供了参考。
The hydrostatic guideway system is essentially a nonlinear system, which is usually simplified to a linear system in analyzing its dynamic characteristics. However, no literature has been found on the linearized induced errors. Taking the open static pressure guide under the control of PM controller as an example, the nonlinear differential equations of the guide rail about pressure and flow rate are deduced. On the one hand, the linearity of the guideway support system is obtained, the transfer function of the system is obtained by Laplace transform, and the step response and impulse response curve of the system are drawn. On the other hand, using the Simulink toolbox, a block diagram of the nonlinear system is set up, and the system step response and impulse response curve are drawn. Comparing the response curves obtained by the two methods, the difference between the response curves of the linearized system and the original system is very small, and the accuracy can meet the requirements of normal engineering. This shows that the linearization process is feasible for the open hydrostatic guide rail adjusted by the PM controller . Therefore, the dynamic performance of hydrostatic guide rail was analyzed and the amplitude, phase frequency and dynamic stiffness were plotted. The research provided a theoretical basis for the linearization of the open hydrostatic bearing system using the PM controller, which provided a reference for engineering practice.