电磁驱快速刀具伺服闭环系统DOB补偿增益PID阻尼控制器设计  

Design of DOB compensation gain PID damping controller for electromagnetic drive fast tool servo closed-loop system

作　　者：卢银菊[1] 刘萌萌[2] 谢忠兵[1] 李峰[3] 张国强 LU Yinju;LIU Mengmeng;XIE Zhongbing;LI Feng;ZHANG Guoqiang(School of Intelligent Manufacturing and Automobile,Neijiang Vocational and Technical College,Neijiang 641000,CHN;School of Mechanical and Electrical Engineering,Zhengzhou Vocational College of Science and Technology,Xinzheng 451150,CHN;Department of Mechanical Engineering,Henan Polytechnic University,Zhengzhou 450064,CHN;Henan Shenzhou Precision Manufacturing Co.,Ltd.,Zhengzhou 450064,CHN)

机构地区：[1]内江职业技术学院智能制造与汽车学院,四川内江641000 [2]郑州理工职业学院机电工程学院,河南新郑451150 [3]河南理工大学机械工程系,河南郑州450064 [4]河南神州精工制造股份有限公司,河南郑州450064

出　　处：《制造技术与机床》2023年第5期119-123,共5页Manufacturing Technology & Machine Tool

基　　金：省级高技能人才培训基地建设项目资助(NZ2018C07);四川省教育科研课题(SCJG20A295)。

摘　　要：为了弥补快速刀具伺服(fast tool servo,FTS)系统驱动不足的问题,开发了一种电磁驱动直接数字式频率合成器(direct digital synthesizer,DDS)系统来实现高带宽轨迹的跟踪控制方法。利用静态增益实现参数前馈补偿,通过线性控制建立扰动观测器(disturbance observer,DOB)补偿前馈增益处理。开展实验测试分析,从控制器中采集控制指令,实现对FTS励磁线圈的驱动作用,完成输出位移控制。研究结果表明:采用PAVPF控制器时对谐振峰起到了明显抑制,发挥理想减振作用。通过阻尼控制保持稳定裕度恒定,再通过更高增益PID控制器对系统实施控制,实现系统闭环带宽的显著增加。PAVPF阻尼达到了±2μm误差;提高DOB增益后系统最大跟踪误差降低值接近±0.16μm。该研究具有很好的控制精度,为高精度刀具控制起到理论支撑作用。In order to make up for the driving shortage of fast tool servo(FTS)system,an electromagnetic driven DDS system was developed to realize the tracking control method of high bandwidth trajectory.The feedforward compensation of parameters is realized by using static gain,and the disturbance observer(DOB)is established by linear control to compensate the feedforward gain processing.The experimental test and analysis were carried out to collect control instructions from the controller to realize the driving effect on FTS excitation coils and complete the output displacement control.The results show that the resonant peak can be suppressed obviously when using PAVPF controller.The damping control keeps the stability margin constant,and then the higher gain PID controller controls the system to achieve a significant increase in the closed-loop bandwidth of the system.PAVPF damping reaches±2μm error;After increasing the DOB gain,the maximum error reduction of the system is close to±0.16μm.The research has a good control precision,which plays a theoretical supporting role for high precision tool control.

关 键 词：快速刀具伺服 电磁力 阻尼控制 PID控制 扰动观测器 

分 类 号：TH13[机械工程—机械制造及自动化]