自抗扰精密跟踪运动控制器的设计  

Design of an active disturbance rejection precision tracking controller

作　　者：吕伟龙[1] 吴丹[1] 王先逵[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）》2007年第2期190-193,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和50675117)

摘　　要：为了提高非圆车削中快速伺服刀架的跟踪精度和抗干扰性,研制了一种自抗扰控制器。通过对执行机构建模分析,将模型中的非线性部分归结为系统的内扰,将加工过程中切削力干扰归结为系统外扰,设计出相应的扩张状态观测器,对系统内、外扰的总和做出实时估计和补偿。仿真实验表明,自抗扰控制性能优于传统的PID控制。通过DSP(digital signal processor)编程,将自抗扰控制器应用于非圆车削。切削加工试验结果表明,自抗扰控制具有良好的控制品质,快速伺服刀架跟踪精度控制在±5μm以内。An active disturbance rejection controller was developed to improve tracking accuracy and disturbance rejection ability of fast tool servos in noncircular turning. In the linear actuator model, the nonlinear part of the model was modeled as an internal disturbance and the cutting force was regarded as an external disturbance. An extended state observer was designed to produce real-time estimates and compensation for the total disturbance. Simulations show that the controller is better than a PID controller. The controller was implemented using digital signal processor programming for noncircular turning, and machining results demonstrate that controller provide good control ability and tracking errors less than ±5μm.

关 键 词：非圆车削 自抗扰控制 快速伺服刀架 

分 类 号：TG506[金属学及工艺—金属切削加工及机床]