Double-loop robust tracking control for micro machine tools  

作　　者：FAN ShiXun NAGAMUNE Ryozo FAN DaPeng 

机构地区：[1]College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China [2]Department of Mechanical Engineering, the University of British Columbia, Vancouver, BC V6TIZ4, Canada

出　　处：《Science China(Technological Sciences)》2011年第11期3054-3063,共10页中国科学（技术科学英文版）

基　　金：supported by the Canada Foundation for Innovation (CFI) and the National Natural Science Foundation of China (Grant No.50875257)

摘　　要：This paper addresses double-loop robust tracking controller design of the miniaturized linear motor drive precision stage with mass and damping ratio uncertainties. As an inner-loop, a disturbance observer （DOB） is employed to suppress exogenous low frequency disturbances such as friction and cutting force. To further eliminate the residual disturbance and to guarantee the robust tracking to the reference input, μ-synthesis outer-loop controller is designed. For eliminating the steady state error, a technique is proposed to design the μ-synthesis outer-loop controller with an integrator. A guideline to select the bandwidth of the Q-filter in the DOB is provided. Simulations using a model of a prototype micro-milling machine indicate that the proposed outer-loop synthesis scheme is superior to the H∞ suboptimal control in disturbance rejection performance and steady state tracking performance. Furthermore, it is shown experimentally that the proposed double-loop robust tracking controller improves the tracking performance of the stage by 29.6% over PID control with a DOB inner-loop.

关 键 词：micro machine tools robust tracking μ-synthesis disturbance observer 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TE920.7[自动化与计算机技术—控制科学与工程]