机电工程技术2026，Vol.55Issue(8)：74-79,6.DOI:10.3969/j.issn.1009-9492.2026.08.013
FAGOR系统摩擦力补偿机理及加工测试验证
Research on Friction Compensation Mechanism and Machining Test Validation of FAGOR Systems
摘要
Abstract
As the main nonlinear disturbance in the servo system of CNC machine tools,friction is prone to cause quadrant marks and reverse marks during axis reverse movement,especially in the zero-crossing process,which significantly reduces the machining roundness and profile accuracy.To address this issue,research is carried out from two aspects:friction modeling and compensation control,with the FAGOR CNC system as the platform.Based on the improved LuGre friction model,the friction compensation mechanism is analyzed,and core compensation technologies such as encoder circle adjustment,oscilloscope dynamic debugging,and circle test optimization are systematically elaborated.Trial cutting experiments are conducted under multiple working conditions with feed speeds of 500～2 000 mm/min and cutting depths of 0.05～0.10 mm on a high-precision gantry high-speed CNC machine tool equipped with the FAGOR 8006 system,so as to verify the compensation effect.Research results shows that the FAGOR system can effectively suppress the position error caused by the sudden change of zero-crossing friction through the coordinated control of positive/negative direction constant and dynamic friction compensation.The proposed compensation method improves the roundness of typical test pieces by 33.3%compared with the traditional PID compensation method,and the elimination rate of quadrant marks reaches 88.9%,which is significantly better than the existing single compensation scheme,providing a reliable friction compensation scheme for high-precision CNC machine tool processing.关键词
FAGOR系统/摩擦力补偿/象限痕/改进LuGre模型/加工精度验证Key words
FAGOR system/friction compensation/quadrant marks/modified LuGre model/machining accuracy verification分类
矿业与冶金引用本文复制引用
李鸿昌,梁锡钊,周振财,陈敬麟..FAGOR系统摩擦力补偿机理及加工测试验证[J].机电工程技术,2026,55(8):74-79,6.基金项目
国家重点研发计划(2023YFE0198500) （2023YFE0198500）
