基于插入型重复控制器的直线伺服系统设计  

Design of Linear Servo System Based on Plug-in Type Repetitive Controller

作　　者：赵希梅[1] 孙显峰[1] 高君[1] 

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110870

出　　处：《机床与液压》2012年第23期83-85,共3页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51175349);沈阳市科学技术计划资助项目(F12-277-1-70)

摘　　要：针对数控机床要达到高速高精度切削的要求,在实际加工中,常需在有限行程中作连续性的周期运动,这就要求对周期性轨迹具有跟踪能力和对周期性扰动具有抑制能力。直线伺服控制系统的基本要求是控制器的设计应有调节能力。分析直线电机伺服控制系统的周期运动特性,利用重复控制理论设计了一种具有实用性的插入型重复控制器,以消除周期性参考输入的稳态跟踪误差。并对直线伺服电机驱动的凸轮加工中心进行了仿真研究,结果表明:所提出的控制方案是有效的,大大提高了系统跟踪精度。For the requirements of high speed and high precision in numerical control machine tool, in practical machining process, continuous periodic motion need be operated generally in the finite distance. Tracking of a periodic trajectory and rejection of a periodic disturbance are required. The basic requirement of the linear servo control system is that the controller with regulation ability is designed. Analyzing the periodic motion characteristic of the linear motor servo system, a plug-in type repetitive controller with practicality was designed according to the repetitive control theory. The steady-state errors for periodical reference inputs could be e- liminated. For cam machining driven by the linear servo motor, the simulations were performed. The results show the proposed con- trol scheme is effective. The tracking precision of the system is enhanced greatly.

关 键 词：周期信号 直线伺服系统 插入型重复控制器 跟踪误差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]