采用自适应滑模变结构控制的精冲机双驱动协调控制系统  

Double-drive Coordinated Control Systems of Fine Stamping Machines Based on Adaptive Sliding Mode Variable Structure Control

作　　者：刘艳雄[1,2] 王根聚 华林 赵新浩[1,2] LIU Yanxiong;WANG Genju;HUA Lin;ZHAO Xinhao(Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan,430070;Hubei Collaborative Innovation Center for Automotive Components Technology,Wuhan,430070)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,武汉430070 [2]汽车零部件技术湖北省协同创新中心,武汉430070

出　　处：《中国机械工程》2021年第18期2189-2196,共8页China Mechanical Engineering

基　　金：国家重点研发计划(2020YFA0714903);教育部创新团队发展计划(IRT_17R83)。

摘　　要：针对机械伺服高速精冲机在双电机联合驱动过程中运动不协调的问题,提出了一种基于自适应滑模变结构控制的双电机协调运动控制策略。将滑模变结构控制引入伺服电机运动控制中,并利用模糊算法对滑模控制参数进行优化,在提高系统鲁棒性的同时降低抖振。不同于传统动力学分析中将传动系统结构简化为刚体,对精冲机建立了刚柔耦合的传动系统动力学模型。仿真结果表明,提出的控制策略可使主电机在冲压阶段提供冲裁力,使副电机通过肘杆连接实现滑块空程阶段的快速回程,满足精冲机的设计和使用要求。Aiming at the problems of uncoordinated motions for mechanical servo high-speed fine stamping machines in dual-motor combined driving processes,a dual-motor coordinated motion control strategy was proposed based on adaptive sliding mode variable structure control.The sliding mode variable structure control was introduced into servo motor motion control,and the fuzzy algorithm was used to optimize sliding mode control parameters to reduce chattering while improving the robustness of the systems.Different from the simplified structure of the transmission systems as a rigid body in traditional dynamics analysis,a rigid-flexible coupling transmission system dynamics model of the fine stamping machines was established.The simulation results show that the proposed control strategy may make the main motor provide punching forces in stamping stages,and make the auxiliary motor connecting toggle link realize rapid return of sliding block in idle stages,which fulfil the requirements of design and usage for the fine punchs.

关 键 词：精冲机 滑模控制 双电机 协调自适应 驱动系统 机械伺服 

分 类 号：TM359.4[电气工程—电机]