Linear positioning system with ball screw

In this task we study the behaviour of a linear positioning system. These kind of positioning systems are widely used in the industry, especially at NC or CNC workstations, where fast and accurate positioning is essential. The system consists of a DC motor with a gear; a clucth which connects the gears output shaft with the shaft of the ball screw. The ball screws nut is fixed to a moving table, which is connected with linear bearings to the framework of the machine. We use a concentrated parameter model, assuming that the parameters are constant in time. We assume also that the system is linear near the work point.

Structure graph
The structure graph of the given problem is the following:

The following simplifications and neglections can be made: Assuming that , similarly Assuming that , there is no backlash in the gear, thereby the system can be separated in two subsystems. The first subsystem has as input and as output. The second subsystem has as input, as output. This subsystem has only translational movement elements, thereby must be transformed from rotational system to translational. The transformation can be done with the following equations: ( ( ( The resultant stiffness of is ) ) ) and therefore and can be reduced to

The resultant stiffness of could be simplified the same way, but they are in a parallel connection with a velocity source, therefore they can be neglected.

1/4

With the simplifications above the structure graph is the following:

From this graph with the network method, the following equations can be written: Loop : (1) (2) Node : (3) (4) Node (5) (6)

( Node

(7) (8)

State space modelling

For state space modelling we need two additional state variables The state space model can be described with the given state vector: [ The input vector: [ The output vector: [ ] (11) ] (10) ] (9)

2/4

The derivatives of the state variables are expressed from equations (2)(4)(6)(8) (12) (13) (14) (15) ( ) ( ) Based on equations (12)-(17) the system matrix is the following: (16) (17)

(18)

[ The input matrix: [ The output matrix: [ The feed-through matrix : [ ] ] ]

(19)

(20)

(21)

3/4

With the previously described vectors and matrices the state space equation in the canonical form is the following:

] [ ] [ ] [ ] [ ]

(22)

[ ]

] [ ]

[ ][

The signal-flow diagram according to the state space model:

4/4