周期性机械系统误差的内模控制研究  

Study on the Control of Periodicity Mechanism System Error with Internal Model Control

作　　者：杜建铭[1] 吴序堂[1] 毛世民[1] 吴宏[2] 

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]河南科技大学机械工程学院

出　　处：《西安交通大学学报》2003年第5期492-494,498,共4页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(59775009).

摘　　要：根据内模控制原理,针对以正弦规律变化的机械系统误差,设计了一种改进的内模控制器,并用于滚齿运动误差的计算机补偿控制中,以取代常规的比例积分微分调节器.在对滚齿运动误差来源进行分析的基础上,建立起滚齿工作台转角误差的数学模型,借助于Matlab软件平台,对模型准确和有误差的情况进行了仿真实验.仿真和实际应用结果表明,改进的内模控制器能使滚齿机工作台的转角输出准确地跟踪计算机补偿输入,因此有效地消除了滚齿运动误差,使系统对设计时的建模误差具有较强的鲁棒性.In allusion to mechanism error varying according to sine wave, an improved internal model controller was designed based on the internal model control (IMC) principle. It was applied to the computer real-time compensation of gear hobbing movement error to replace the conventional proportional integral derivative (PID) regulator. Based on the discussion of the source of movement error in gear hobbing process, a mathematical model was established for describing the error rule. Using Matlab software, two different cases of both model match and model mismatch were simulated. Simulation and practical application show that the improved internal model controller enables the corner output of hobbing machine worktable to follow the track of the input of computer compensation accurately and to eliminate hobbing movement error efficiently, and meanwhile makes the system robust to modeling errors in design.

关 键 词：内模控制 误差补偿 仿真 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]