直线电动机驱动系统的干扰补偿控制  

Disturbance Compensation Control of the Linear Motor Drive System

作　　者：董贵荣[1] 

机构地区：[1]西安理工大学,西安710082

出　　处：《微特电机》2014年第12期45-48,共4页Small & Special Electrical Machines

摘　　要：直线电动机驱动的XY工作台在高速高精度数控机床中得到了广泛应用。针对摩擦力和切削力对工作台定位精度和轮廓跟踪精度的影响,提出了基于Maxwell-Slip模型的摩擦前馈补偿方案,通过构建干扰观测器对摩擦力作进一步补偿,同时,该干扰观测器能够在一定程度上补偿切削力的干扰。最终通过设计重复控制器完全消除了摩擦力和切削力干扰。在直线电动机驱动的XY工作台上对所设计的控制方案进行了实验验证,实验结果证明了所设计控制方案的有效性和可行性。The XY table driven by linear motor has been widely used in high- speed and high- precision CNC machine tools. According to the influence of friction and cutting force on the positioning and contour tracking accuracy of the XY table,the friction feedforward compensation scheme based on Maxwell- Slip model was proposed,and the friction was further compensated by constructing a disturbance observer. Simultaneously,the disturbance observer can compensate the cutting force to a certain extent. Finally,the disturbance was completely eliminated by designing a repetitive controller. The proposed control scheme was verified on the linear driving XY table. The experimental results demonstrate the effectiveness and feasibility of the designed control program.

关 键 词：直线驱动 XY工作台 Maxwell-Slip模型 干扰观测器 重复控制器 

分 类 号：TM359.4[电气工程—电机]