This paper presents a new type of crawler guide rail dual drive micro feed servo system based on “crawler type” guide rail. Through the innovative design of the crawler guide rail and the change of the working mode, the table, and the crawler type movable rail are relatively static, and the influence of nonlinear friction in low-speed micro feed is eliminated, so that the system can have a lower stable speed limit and realize accurate micro feed control. The Euler-Bernoulli beam element with axial and torsional degrees of freedom is used to describe the axial and torsional vibrations of the ball screw, and the lumped parameter method is used to analyze other parts of the feed system, and the electromechanical coupling dynamic model considering the nonlinear friction is established. The transfer function block diagram is used to characterize the motion relationship of the crawler guide rail dual drive servo feed system. The response difference between the screw single drive system and the new crawler guide rail dual drive system is analyzed by simulation when feeding at constant or variable speed, and the influence of different feed speed on the dynamic performance of the system. The results show that the low speed micro feed performance of the new crawler guide rail dual drive servo system is obviously better than that of the screw single drive system under the condition of constant speed or variable speed.

提出一种基于“履带式”导轨的新型履带导轨双驱动微进给伺服系统。通过履带式导轨的创新设计和工作模式的改变，使工作台、履带式移动导轨相对静止，消除低速微进给时非线性摩擦的影响，使系统能够具有较低的稳定速度极限，实现精确的微进给控制。采用具有轴向和扭转自由度的欧拉-伯努利梁单元描述滚珠丝杠的轴向和扭转振动，采用集中参数法分析进给系统的其他部分，并考虑机电耦合动力学模型非线性摩擦力成立。采用传递函数框图来表征履带导轨双驱伺服进给系统的运动关系。通过仿真分析了螺杆单驱动系统与新型履带导轨双驱动系统在恒速或变速进给时的响应差异，以及不同进给速度对系统动态性能的影响。结果表明，在恒速或变速情况下，新型履带导轨双驱动伺服系统的低速微进给性能明显优于丝杠单驱动系统。