基于最少拍无波纹的零相位误差跟踪控制在精密直线位移装置中的应用  

APPLICATION OF ZPETC BASED LEAST-BEAT AND NON-RIPPLE CONTROL IN PRECISION LINEAR MOTOR DISPLACEMENT SYSTEM

作　　者：颜菡[1] 王先逵[1] 段广洪[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《机械工程学报》2007年第5期111-115,共5页Journal of Mechanical Engineering

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

摘　　要：为使精密直线位移装置控制系统的输出响应能够准确而且快速地跟踪输入指令,同时消除由直接驱动带来的负载扰动、切削力波动等因素对系统性能造成的不利影响,针对用于非圆截面零件数控车削的精密直线位移系统,提出一种基于最少拍无波纹控制的零相位误差跟踪控制(Zero phase error tracking control,ZPETC)方案。该方案既能消除不稳定零点导致的系统相位误差,又能提高系统的响应速度。仿真结果表明,基于最少拍无波纹控制的ZPETC方法,有效地改善系统的跟踪性能。系统对于正弦信号的稳态跟踪误差可以达到±0.5μm,其阶跃响应准确且速度快。与一般精密直线位移装置的控制方法相比,此方法能提高系统的跟踪精度,同时具有良好的抗干扰能力,具有广泛的应用前景。To make the output response of the control system of precision linear motor displacement system （PLMDS） accurately track the input instructions and to eliminate the adverse influences introduced by the load disturbance and the cutting-force fluctuation from direct drive, a zero phase error tracking control （ZPETC） scheme based on least-beat and non-ripple control in PLMDS is proposed for the application to the CNC turning of non-circular cross-section part, which can eliminate the system phase error caused by the unstable zeros and enhance the system response rate as well. Simulation resuits show that this method can effectively improve the system tracking performance. The steady-state sinusoidal signal tracking error of the system can reach up to ±0.5μm with rapid and accurate step response. Compared with general control strategies of PLMDS, this method increases the system tracking accuracy and possesses fine anti-disturbance ability, which is endowed with the potential for wide application.

关 键 词：精密直线位移装置 最少拍无波纹控制 零相位误差跟踪控制 前馈控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]