压力机多轴同步驱动的虚拟轴改进型偏差耦合控制方法  

Multi-axis synchronous drive for servo press based on improved relative coupling control method with a virtual axis

作　　者：王勇[1] 邢亮 吴焱明[1] 胡延平[1] 胡火根 方唐利 WANG Yong;XING Liang;WU Yanming;HU Yanping;HU Huogen;FANG Tangli(School of Mechanical Engineering,Hefei University of Technology,Hefei 230009,China;Anhui Nextool Equipment Technology Co.,Ltd.,Tongling 244000,China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009 [2]安徽耐科装备科技股份有限公司,安徽铜陵244000

出　　处：《合肥工业大学学报(自然科学版)》2025年第4期462-468,共7页Journal of Hefei University of Technology:Natural Science

基　　金：安徽省科技重大专项资助项目(202003a05020041)。

摘　　要：为实现多轴伺服驱动压力机的同步控制,文章基于传统偏差耦合控制提出一种虚拟轴改进型偏差耦合同步控制方法,并搭建同步控制实验平台进行现场验证。基于压力机结构和控制模型实现模糊比例积分微分(proportional integral derivative,PID)位置跟踪控制;在传统偏差耦合控制结构中添加评价误差模块,搭建一种改进型偏差耦合同步控制方法,提高同步系统的抗扰动能力和同步精度;将虚拟轴引入改进型偏差耦合控制结构中,从而解除多轴间的直接耦合关系,简化改进型同步位移补偿结构。实验结果表明,该方法有效提高了压力机同步抗扰动能力和稳态同步精度。In order to solve the problem of synchronization control of multi-axis driving servo press,this paper proposes a virtual axis improved relative coupling synchronous control method based on traditional relative coupling control.An experimental platform is also presented to validate the synchronization precision.Firstly,a fuzzy proportional integral derivative(PID)position tracking control is realized based on the press structure and control model.Then,an evaluation error module is added to the traditional relative coupling control structure to build an improved relative coupling control structure,which improves the anti-disturbance ability and synchronization accuracy of the synchronization system.Finally,a virtual axis is introduced to the improved relative coupling control structure,which decouples multiple axes directly and simplifies the improved synchronous displacement compensation structure.The experiment shows that this method effectively improves the synchronous anti-disturbance ability and steady-state synchronization accuracy of the servo press.

关 键 词：伺服压力机 多轴同步控制 偏差耦合 同步误差 虚拟轴 

分 类 号：TM341[电气工程—电机]