基于前馈型模糊PID的电火花主轴运动控制研究  

Research on motion control of EDM spindle based on feedforward fuzzy PID

作　　者：石龙 王民[1,2] 刘建勇 孙铁伟 王树华[1] SHI Long;WANG Min;LIU Jianyong;SUN Tiewei;WANG Shuhua(Key Laboratory of Advanced Manufacturing Technology Beijing Municipal,College of Mechanical Engineering and Applied Electronics Technology,Beijing University of Technology,Beijing 100124,China;Beijing Municipal Key Lab of EDM Technology,Beijing 100191,China;Beijing Institute of Electro-Machining,Beijing 100191,China)

机构地区：[1]北京工业大学机械工程与应用电子技术学院,先进制造技术北京市重点实验室,北京100124 [2]电火花加工技术北京市重点实验室,北京100191 [3]北京市电加工研究所,北京100191

出　　处：《现代制造工程》2021年第12期7-12,119,共7页Modern Manufacturing Engineering

基　　金：国家自然科学基金资助项目(51975020,51575014);北京市自然科学基金项目(3202005)。

摘　　要：电火花成型机主轴的驱动系统一般采用旋转电机+滚珠丝杠机构,其结构特性导致线速度、加速度及定位精度均有限。在一些极端加工条件下,可能出现排屑困难,导致无法满足超高速、超精密电火花加工需求。针对上述问题,设计了直线电机直接驱动系统,提出了一种前馈型模糊二自由度PID(two Degree Of Freedom-PID,2DOF-PID)控制器结构。建立了电机矢量控制系统的数学模型,设计了模糊2DOF-PID速度控制器。通过模糊规则实时调整2DOF-PID参数,采用该控制器的直线电机控制系统不仅能使跟踪能力和抗干扰能力同时达到最优,且能够满足主轴快速平稳的换向要求。仿真结果显示,模糊2DOF-PID速度控制器的响应速度是传统PID控制器的3.7倍;在受到外部突加扰动时,模糊2DOF-PID速度控制器的速度波动量仅为传统PID控制器的1/8,能较好适用于电火花成型加工。The drive system of Electrical Discharge Machining(EDM)spindle usually adopts a rotating motor+ball screw mechanism.The linear speed,acceleration and positioning accuracy of it are limited due to its structural characteristics.Under some extreme machining conditions,chip removal may be difficult,resulting in failure to meet the requirements of ultra-high speed and ultra-precision EDM.To solve the above problems,a direct drive system of linear motor was designed,a feedforward fuzzy two Degree Of Freedom(2DOF)-PID controller was proposed.The mathematical model of the motor vector control system was established,and the fuzzy 2DOF-PID speed controller was designed.Through online adjustment of 2DOF-PID parameters by fuzzy rules,the linear motor control system using this controller can not only optimize the tracking ability and anti-disturbance ability,but also meet the requirements of rapid and stable commutation of the spindle.The simulation results show that the response speed of the fuzzy2DOF-PID speed controller is 3.7 times that of the conventional PID controller;when subjected to sudden external disturbance,the speed fluctuation of the fuzzy 2DOF-PID speed controller is only 1/8 of that of the conventional PID controller,and the designed controller is better suitable for EDM machining.

关 键 词：电火花主轴 直线电机 二自由度PID 模糊控制 抗干扰性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]