快速刀具伺服系统位置域重复控制设计及其数字实现  

Design and Digital Implementation of Spatial Repetitive Control for Fast Tool Servo System

作　　者：周兰[1] 杨秦 潘昌忠[1] 肖文彬 李美柳 ZHOU Lan;YANG Qin;PAN Chang-Zhong;XIAO Wen-Bin;LI Mei-Liu(School of Information and Electrical Engineering,Hunan University of Science and Technology,Xiangtan 411201)

机构地区：[1]湖南科技大学信息与电气工程学院,湘潭411201

出　　处：《自动化学报》2024年第7期1432-1444,共13页Acta Automatica Sinica

基　　金：国家自然科学基金(62373145,62173138,62303179);湖南省重点研发计划项目(2023GK2027);湖南省自然科学基金(2021JJ30006,2023JJ40297,2023JJ40295);湖南省教育厅科研项目(21A0321,22B0468,22C0244);湖南省研究生科研创新项目(CX20221055)资助。

摘　　要：在非圆零件车削过程中,快速刀具伺服(Fast tool servo,FTS)的运动精度直接影响零件的加工质量.主轴变速加工使得FTS的参考目标信号周期时变而不确定,这对实现其渐近跟踪提出了极大的挑战.本文利用FTS的位置域周期特性,提出一种基于位置域重复控制和时域速度反馈镇定的FTS系统复合控制设计方法,并给出位置域改进型重复控制器(Spatial modified repetitive controller,SMRC)的数字实现算法,实现对时变周期参考目标信号的高精度跟踪.首先,建立包含位置相关时变周期参考目标信号内模的SMRC,并引入位置域相位超前装置对镇定补偿器引起的相位滞后进行补偿,在此基础上构建复合控制律.然后应用小增益定理和算子理论,推导出控制系统的稳定性条件,在保持系统采样频率不变的条件下,应用插值法建立SMRC的数字实现算法,确保位置域重复控制和时域镇定控制器的同步执行.最后,通过仿真验证所设计的FTS控制系统具有满意的时变周期跟踪性能和鲁棒性,并通过与其他位置域重复控制方法的比较,说明所提方法同时具有更好的暂态和稳态性能.The motion accuracy of the fast tool servo(FTS)directly affects the machining quality of the non-circular parts.In variable spindle speed machining,the period of the reference signal of the FTS is time-varying and uncertain,which poses a great challenge to achieve its asymptotic tracking.In this paper,we propose a composite control design method based on spatial repetitive control and temporal velocity feedback stabilization for an FTS system,and present a digital implementation algorithm of the spatial modified-repetitive-controller(SMRC)to achieve high-precision tracking of time-varying periodic reference signals.First,an SMRC with the internal mode of the position-dependent time-varying periodic reference input signal is constructed,in which a phase-lead alignment segment is used to compensate for the phase lag caused by the temporal stabilization controller.And based on this,a composite control law is established.Then,the stability criteria of the control system are derived using the small gain theorem and operator theory.A digital implementation algorithm of the SMRC is developed to ensure the synchronous execution of the SMRC and the temporal stabilization controller through a regular fixed time sampling.Finally,simulation results show that the designed FTS control system has satisfactory time-varying-period tracking performance and robustness.A comparison with other spatial repetitive control methods verifies that the proposed method achieves better performance in both transient and steady state aspects.

关 键 词：快速刀具伺服 时变周期信号 重复控制 位置域 数字实现 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TG71[自动化与计算机技术—控制科学与工程]