用于非圆车削的离散重复控制改进算法  

An improved discrete-time repetitive control algorithm for noncircular turning

作　　者：易旺民[1] 吴丹[1] 高杨[1] 赵彤[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《清华大学学报（自然科学版）》2004年第8期1064-1066,1070,共4页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(50105009);国家"十五"科技攻关项目(2001BA205B04)

摘　　要：为了提高非圆数控车削系统中直线伺服单元的跟踪精度,该文提出了一种改进的离散重复控制算法。该算法中在输入参考信号处直接增加一个比例增益环节,在信号发生器处串联一个超前的时滞环节,并且用一个二阶低通滤波器作为控制系统的补偿函数。这些改进,不仅增加了系统的快速响应性,而且对时滞环节带来的相位滞后得到了一定的抵消补偿。通过数字仿真,发现改进的重复控制算法有很好的跟踪精度和较强的鲁棒性。An improved repetitive control algorithm was developed to improve tracking accuracy for a linear servo unit in a numerical piston lathe. The repetitive control algorithm includes scalar gain of the reference input with a lead block in the signal generator. A second-order low-pass filter provides compensation in the controller. The improved repetitive control algorithm quickly tracks the reference input and cancels the phase delay caused by the time lag block. Simulation results demonstrate the improved repetitive controller provides good tracking accuracy and robustness.

关 键 词：非圆车削 重复控制算法 时滞环节 

分 类 号：TG5[金属学及工艺—金属切削加工及机床]