一种进给伺服系统非线性PID交叉耦合控制  

A Feed Servo System with Nonlinear PID Cross-Coupled Control

作　　者：路勇良 赵军[1,2] 李莉莉[3] 张振 刘青华 LU Yongliang;ZHAO Jun;LI Lili;ZHANG Zhen;LIU Qinghua(Key Laboratory of High Efficiency and Clean Mechanical Manufacture of MOE,School of Mechanical Engineering,Shandong University,Jinan Shandong 250061,China;National Demonstration Center for Experimental Mechanical Engineering Education,Shandong University,Jinan Shandong 250061,China;Shandong Deed Precision Machine Tool Co.,Ltd.,Jining Shandong 272000,China)

机构地区：[1]山东大学机械工程学院高效洁净机械制造教育部重点实验室,山东济南250061 [2]山东大学机械工程国家级实验教学示范中心,山东济南250061 [3]山东蒂德精密机床有限公司,山东济宁272000

出　　处：《机床与液压》2023年第19期46-51,共6页Machine Tool & Hydraulics

基　　金：山东省重点扶持区域引进急需紧缺人才项目(2022年度)。

摘　　要：提高多轴伺服系统的轮廓跟随性能是现代计算机数控加工的重要应用之一。针对传统交叉耦合控制方法对自由曲线轨迹的轮廓跟踪精度较差以及传统PID控制系统抗扰性和鲁棒性较差的问题,提出一种基于自抗扰控制的交叉耦合轮廓误差补偿综合控制策略,该策略由用于位置环反馈控制和轮廓误差补偿的新型非线性PID(NLPID)、位置伺服控制器TNP-ADRC和基于NLPID的变增益交叉耦合控制器组成。在MATLAB/Simulink环境下对方波信号跟踪和标准圆轮廓加工过程中轮廓误差的变化情况进行仿真,仿真结果表明:与传统PID交叉耦合控制相比,该方法不仅能够有效提高系统的鲁棒性以及抗干扰能力,并且能够显著提高多轴运动控制系统的轮廓加工精度。Improving the contour following performance of multi-axis servo system is one of the most important applications of modern CNC machining process.As the traditional cross-coupled control method has poor contour tracking accuracy for free-curve trajectory,and the traditional PID control system has poor disturbance rejection and robustness,an integrated control strategy of cross-coupled contour error compensation was proposed based on active disturbance rejection control,which consisted of a novel non-linear PID(NLPID) for position loop feedback control and contour error compensation,position servo controller TNP-ADRC and a variable gain cross-coupled controller based on NLPID.The modification of contour error during square wave signal tracking and standard circular contour processing was simulated in the MATLAB/Simulink environment.The simulation results demonstrate that this method can greatly improve the contour processing precision of multi-axis motion control systems while also can effectively enhance the robustness of the system and disturbance rejection capabilities compared to the conventional PID cross-coupled control.

关 键 词：数控机床进给伺服系统 轮廓误差 交叉耦合控制 自抗扰控制 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]