GWT-5T高精度五轴台定位精度控制研究  

Rearch on position control of GWT-5T high accuracy five-axis table

作　　者：柏桂珍[1] 张卯瑞[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,黑龙江哈尔滨150001

出　　处：《电机与控制学报》2004年第2期134-136,共3页Electric Machines and Control

摘　　要：GWT-5T是高精度电液伺服控制系统,针对其子系统(目标方位系统),研究了系统的精密定位控制问题.首先讨论了Clegg非线性积分器在离散系统中的实现和特点,给出了系统摩擦力的模型.在此基础上,提出了结合冲击信号的非线性积分器控制器.结果表明,该系统极限环基本消除、精度大幅度提高,表明了该控制器的有效性。GWT-5T five-axis table isna high accuracy electro-hydraulic servo system. Based on one of its subsystems (the target oriental Aubsystem), this paper studies the precision positioning problem. Firstly, the character and model of Clegg nonlinear integrator in discrete-time system are discussed, then, the friction model of the system is presented. On the basis, the position controller with a non-linear integrator combined with impulse signal is proposed. The stick-slip oscillation is greatly reduced and the precision is also risen apparently. The experimental results show the effectiveness of the controller.

关 键 词：GWT-5T 液压伺服系统 非线性积分器 离散系统 定位精度控制 

分 类 号：TM921.541[电气工程—电力电子与电力传动]