【作者】 翁秀华；

【导师】 郭庆鼎；

【作者基本信息】 沈阳工业大学 ， 电力电子与电力传动， 2005， 硕士

【摘要】 本文以国家自然科学基金资助项目“直线伺服双位置环动态精密同步进给理论和实现方法研究(No.50075057)”为背景,结合被控对象的实际特点,从两个角度提出了减小双直线电机同步控制中同步误差的控制策略。 在基于同步偏差给定的控制策略中,主要采用模糊自适应PID控制方法,并将其应用于双直线电机驱动的轴间反馈回路,把两直线电机的同步误差信号作为模糊自适应PID控制器的输入,抑制由于不同步引起的不平衡扭矩。由于本文中所述的模糊控制器的模糊推理规则基于预先设定的规则表,不需要复杂的算法,因此控制器的运算较快,能够适应被控对象对快速性的要求。仿真研究结果表明,此种方案鲁棒性、快速性优良,能够较好地满足被控对象对高精度同步控制的要求。 在基于扰动补偿的控制策略,将双直线电机的各控制回路中的扰动信号分别用干扰观测器加以抑制,进而提高了同步的快速性,抑制加工中心双直线电机驱动的进给轴方向上的不同步现象。仿真结果表明,此种控制方案鲁棒性强,动态过程同步误差小,能够较好地满足被控对象对高精度的要求。 此外,还针对横梁方向上的由于刀架位置变化导致的进给轴方向上的不同步进行了负载动态补偿。将这种控制方法应用于上面所述的两种控制策略中,使得系统能够保持更高的同步性能。更多还原

【Abstract】 Based on the National Natural Science Foundation project named "Theory of Dynamic Precision Synchronization Traverse and Research of Realization Methods for Linear Servo Dual Position Loops System(No.50075057)" and considered the characters of the controlled object, the control strategies for reducing the synchronous error of dual linear motor are represented from two angles.In the strategy which synchronous error is considered as given value of fuzzy self-adaptive PID controller, the controller is placed in the feedback channel between the two motors. Since the fuzzy reasoning rules of fuzzy adaptive PID controller represented in this paper are based on the previously set rules tables, the complicated algorithm isn’t required and the calculating speed of controller is high. The high-speed requirement of controlled object can be met. The simulation result prove that the proposed system has strong robustness and good rapidity, and dynamical synchronous error is small. So this control method can satisfied the demand of the controlled subject for the high precision synchronous control.In the strategy based on disturbance compensation, disturbance Observer is used in dual linear servo motors feeding drifts of gantry-moving type boring-milling machining centers to limit the asynchronization caused by the parameters variation and outer torques. Hence, the rapidity of synchronization is increased. The results of simulation test indicate that the proposed system has strong robustness and good rapidity, and dynamical synchronous error is small. So this control method can satisfied the demand of the controlled subject for the high precision synchronous control.Besides, load dynamic compensation of bridging drift is proceeded to decrease disturbance to feeding drifts. And combined with above two control strategies, the synchronization can be achieved better.更多还原