双丝杠进给系统滑模控制与同步误差仿真分析  

Simulation Analysis of Sliding Mode Control and Synchronization Error of Dual-Screw Feed System

作　　者：许向荣[1] 朱培元 姜洪奎[1] 赵佳佳[1] 于翰文 XU Xiangrong;ZHU Peiyuan;JIANG Hongkui;ZHAO Jiajia;YU Hanwen(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China)

机构地区：[1]山东建筑大学机电工程学院,济南250101

出　　处：《组合机床与自动化加工技术》2025年第2期212-216,221,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51205235)。

摘　　要：为了解决双丝杠进给系统同步控制误差过大的问题,建立双丝杠进给系统的机电耦合仿真模型,并且基于自抗扰控制理论中的跟踪微分器与滑模控制理论,设计了基于跟踪微分器与改进趋近律的滑模控制器,以减小因切换滑模面而产生的抖振现象;其次,为解决两根丝杠因制造装配等产生的工艺误差导致的扰动问题,在采用同步控制的基础上,两根丝杠均采用了基于跟踪微分器与改进趋近律的滑模控制器,大幅度地降低了两根丝杠的同步误差;最后进行了MATLAB/Simulink建模与仿真分析,仿真结果表明采用基于跟踪微分器与改进趋近律的滑模控制策略相比传统滑模同步控制策略和P-PI同步控制策略,对同步误差的抑制效果要更好,工作台运动更加稳定。To solve the excessive synchronization control error in dual-lead screw feed systems,an electromechanical coupling simulation model of the dual-lead screw feed system was established.Based on the theory of active disturbance rejection control(ADRC),a tracking differentiator and improved reaching law were integrated into a sliding mode controller to mitigate the chattering caused by switching the sliding surface.Additionally,to tackle the disturbances due to manufacturing and assembly errors in the two lead screws,a tracking differentiator and an improved reaching law-based sliding mode controller were applied to both lead screws under synchronized control,significantly reducing the synchronization error.Finally,MATLAB/Simulink modeling and simulation analysis were conducted.The simulation results demonstrated that the control strategy based on the tracking differentiator and the improved reaching law outperformed traditional sliding mode synchronization control and P-PI synchronization control strategies in suppressing synchronization errors,leading to more stable motion of the worktable.

关 键 词：双丝杠 滑模控制 同步控制 跟踪微分器 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]