双驱进给系统作为龙门移动式数控装备的关键进给运动执行系统，其性能
直接决定装备进给运动的精度和性能。由于双驱进给系统采用双丝杠传动结构，进给运动时双轴伺服特性和传动链刚度特性不一致，双轴驱动力与系统重心产生偏移及双轴动态特性耦合变化，引起双运动轴刚度链变形和产生进给误差。
此外，双驱进给系统中移动部件位移和运动参数变化与耦合影响，摩擦力、惯性力等变化，造成双轴误差差异并变化，增大了双轴同步误差。双轴误差与同步误差耦合传递降低了系统同步精度与进给精度。双驱进给系统误差补偿则是提高双驱进给系统进给精度的共性关键技术和亟待解决的问题。
因此，本文围绕双驱进给系统误差补偿技术，开展误差传递机理与误差建
模以及同步控制策略的理论和实验研究，主要内容如下：
（1）建立了基于双轴耦合误差传递机理的双驱进给系统综合误差模型。
围绕双驱进给系统误差传递机理分析，首先进行基座-双柔性运动轴-工作台构成的双驱进给系统力传递分析，分析双驱进给系统重心偏移、负载变化对双轴间力学耦合性能影响。再基于双驱传动单元误差产生原因，对双驱进给系统误差进行了分析，基于多体运动学理论揭示了双驱进给系统误差传递机理，提出了基于误差传递矩阵表征的双驱进给系统综合误差建模方法，并进行了综合误差建模的案例验证。为双驱进给系统的误差补偿提供理论支撑。
（2）提出了基于柔性运动轴刚度表征的双驱进给系统动力学建模方法。
考虑柔性传动环节，建立了双驱进给系统刚度链表征模型，并探究了刚度链对双驱动态特性的影响。结合双驱进给系统双轴耦合特征，建立了双驱进给系统状态耦合动力学模型，解析了状态参数变化对双驱进给系统动态性能的影响机制。通过对自主研发的双驱进给系统进行模态实验，验证了动力学模型的正确性，进而建立了双驱进给系统状态耦合机械模型，分析了刚度和负载对双驱进给系统力误差的影响规律，为双驱进给系统综合误差的补偿充实了理论基础。
（3）设计了基于误差检测系统与传动链电机电流的双驱进给系统参数辨
识方法。采用敏感性分析方法，辨识了双驱进给系统敏感几何误差项，并基于误差检测系统建立了敏感几何误差预测模型；建立了双驱进给系统比例-比例-积分（P-PI）双环式伺服电机控制模型，解析了双驱进给系统电机电流-轴向振动的复映关系，设计了双驱进给系统随机激励序列，提出了基于传动链电机电流表征的双驱进给系统轴向刚度在线辨识方法；采用了最小二乘与遗传算法合成-牛顿插值方法对双驱进给系统摩擦模型进行了表征。双驱进给系统的参数辨识是形成误差补偿方法的关键环节。
（4）提出了基于状态时变交叉耦合同步控制策略和综合误差模型的双驱
进给系统主动误差补偿策略。设计了基于灰狼算法优化的比例-微分（GWO-PD）交叉耦合同步控制算法，并设计了双摩擦补偿+GWO-PD 控制器，以解决双轴摩擦与单轴跟随误差和双轴同步误差的耦合导致同步控制精度下降的问题；建立了双驱进给系统机电联合模型，探究了状态参数耦合变化对双驱进给系统误差影响规律；阐述了基于运动控制器的开放式数控系统主动误差补偿流程与实施方法，结合虚拟电子轴-外部位置发生器功能实现双驱进给系统主动误差补偿。
（5）开发了双驱进给系统主动误差补偿系统，进行了误差补偿实验分析。搭建双驱进给系统误差补偿实验系统，基于EtherCAT 总线通讯模式，实现硬件之间数据流高速传输；以Visual Studio 为开发平台，采用C#编程语言，设计双驱进给系统误差补偿软件，基于ADS 通讯实现误差补偿软件与开放式数控系统实时交互；设计了双驱进给系统误差补偿实验方案，基于搭载双驱进给系统的龙门移动式雕铣机，进行了同步控制策略对比实验，验证了状态时变交叉耦合同步控制策略的有效性，进行了双驱进给系统误差补偿实验，验证了双驱进给系统主动误差补偿策略的可行性。
本文的研究，对进一步丰富双驱进给系统误差传递机理、补偿方法的研究
具有重要的科学意义，从而对提高搭载双驱进给系统的龙门式数控装备运动精度具有重要的实际应用价值。

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