机械与电子2026，Vol.44Issue(8)：73-81,9.
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
Optimization Control of Dynamic Performance of Machine Tool Feed Mechanism Integrating IBFO-LuGre and Reduced Order Observer
摘要
Abstract
The frictional nonlinearity of the machine tool feed mechanism can easily cause sudden chan-ges 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 ob-server(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 compen-sation 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 damp-ing.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 re-sults 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 ex-tremely low-speed operating conditions.Moreover,under the conditions of compound acceleration/decel-eration 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 op-erating conditions.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Key words
machine tool feed mechanism/LuGre model/improved bacterial foraging optimization/re-duced-order extended state observer/feedforward compensation/dynamic performance optimization分类
矿业与冶金引用本文复制引用
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(8):73-81,9.基金项目
云南省教育厅科学研究基金项目(2025J1848) （2025J1848）
