高速进给传动的滑模控制器设计  

The Design of Sliding Mode Controller for High-speed Feed Drives

作　　者：王彦峰[1] 吴希让[1] 

机构地区：[1]南阳理工学院机电系,河南南阳473003

出　　处：《兵工自动化》2002年第1期13-17,共5页Ordnance Industry Automation

摘　　要：自适应滑模控制方法可适应于控制高速进给传动。该控制系统对传动参数的不定性是鲁棒的,且使带宽最大,并补偿诸如磨擦和切削力等外部干扰。在给出进给传动动力学模型的基础上,针对滚珠丝杆传动系统及其运动微分方程,讨论了设计滑模控制器的2个主要步骤,即滑移面和李亚普诺夫函数的选择。随后用圆和菱形铣削轨迹进行了加工试验,其轮廓误差与用前馈摩擦和伺服动态补偿的极点配置控制器作了对比。结果表明,滑模控制器在快速调整和执行过程中具有明显优点。An adaptive sliding mode control technique is presented for the control of high speed feed drives. The control system is robust against uncertainties in the drive抯 parameters, maximizes the bandwidth, and compensates for external disturbance such as friction and cutting force. Based on model of given feed drive dynamics, point to ball screw drive system and its motion differential equations, two fundamental steps in designing a sliding mode controller, that is the selections of a sliding surface and a Lyapunov function. Followed by machining tests conducted with contour milling of circles and diamond trajectories. The contour errors are compared against those of a pole placement controller with feed forward friction and servo dynamics compensation. It is shown that the sliding mode controller has practical advantages in rapid tuning and implementation.

关 键 词：滑膜控制器 高速进给 传动系统 运动控制 数控机床 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]