带扰动观测器的虚拟轴机床滑模控制研究  

Research of sliding mode control with a disturbance observer for a virtual axis machine tool parallel mechanism

作　　者：高国琴[1] 张义贞[1] 薛娌[1] 

机构地区：[1]江苏大学电气信息工程学院,镇江212013

出　　处：《机械设计与制造》2012年第4期156-158,共3页Machinery Design & Manufacture

基　　金：江苏省自然科学基金资助项目(BK2009202)

摘　　要：虚拟轴机床为高度非线性、多变量、强耦合系统,存在诸多不确定性,其不确定性已成为虚拟轴机床实现产业化的重要障碍之一。在进行六自由度虚拟轴机床并联机构运动学分析基础上,为保证机构运动的平稳性,进行了基于PVT插补的关节空间轨迹规划,提出一种带有扰动观测器的滑模控制器,从而提高虚拟轴机床的抗干扰性能。对虚拟轴机床控制系统的仿真结果表明:该控制系统提高了对参数摄动和外在干扰的鲁棒性,具有良好的动态跟踪性能和精确的稳态性能。The uncertainties of a virtual axis machine tool are still a major obstacle for realizing the industrialization.Firstly,the kinematics analysis of the parallel mechanism of a 6-DOF virtual axis machine tool is made.Secondly,a joint-space trajectory planning based on the PVT interpolation algorithm is conducted to ensure the stability of the mechanism movement.Finally,in order to improve the robustness of the virtual axis machine tool for the disturbances and effectively inhibit the chatting caused by the excessive switching gain in the traditional sliding mode control method,a sliding mode controller with a disturbance observer is designed.The simulation results show that the control system of the virtual axis machine tool developed in it can improve the robustness for the parameter variations and external interferences and has a good dynamic tracking performance and an accurate steady-state performance.

关 键 词：虚拟轴机床 滑模控制 扰动观测器 PVT插补 

分 类 号：TH16[机械工程—机械制造及自动化]