数控转台直接驱动回转送进系统的鲁棒2自由度H_∞控制  

Robust 2 Degree-of-freedom H_∞ Control for NC Rotary Table Direct Drive Rotary Feeding System

作　　者：孙宜标[1] 金石[1] 王成元[1] 

机构地区：[1]沈阳工业大学电气工程学院,沈阳110023

出　　处：《机械工程学报》2008年第2期152-156,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375102)

摘　　要：为使直接驱动回转送进系统具有良好的抗扰性能及速度指令跟踪性能,采用基于模型匹配鲁棒2自由度控制结构,设计一个H∞速度控制器。H∞速度控制器使系统对负载扰动及自身参数变化具有较强鲁棒性,同时采用鲁棒2自由度结构,并考虑模型匹配问题,是为了提高系统对速度信号的渐近跟踪性能及响应速度,可以解决抗干扰性能和快速跟踪性能之间的矛盾。仿真结果及分析表明,所提出的鲁棒2自由度H∞速度控制器可以保证高精度直接驱动转台回转送进系统的鲁棒性和精确速度跟踪。To make the direct drive rotary feeding system with good interference rejection and tracking performance to speed com- mand, an H∞ speed controller based on model matching robust two-degree-of-freedom （2DOF） control is designed. The H∞ controller is better in robustness against load disturbances and parameters variations. Simultaneity, the robust 2DOF structure is adopted and the model matching problem is considered to enhance asymptotical tracking performance of the scrvo system to speed signal and respond speed and to solve the conflict between interference rejection and fast tracking performance. Simulation results show that the proposed robust 2DOF H∞ speed controller guarantees the robustness and exact speed tracking for high-precision direct drive round table sorvo system.

关 键 词：数控转台 直接驱动 环形永磁力矩电动机 鲁棒2自由度 H∞速度控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TM359.6[自动化与计算机技术—控制科学与工程]