一种非线性PID在伺服电机同步传动中的运用  

An application of a new class of nonlinear PID controller on synchrodrive

作　　者：綦艳丽[1] 郭庆鼎[1] 

机构地区：[1]沈阳工业大学电气工程学院,辽宁沈阳110023

出　　处：《沈阳工业大学学报》2004年第1期60-63,共4页Journal of Shenyang University of Technology

摘　　要：双电机同步传动是龙门移动式镗铣加工中心的关键环节.在同步传动中采用了一种非线性PID调节器代替原有的常规线性PID调节器,使两台电机在速度上保持一致.驱动元件采用直线永磁伺服电机,以发挥其高速动态的响应能力.数字仿真结果表明,此种控制方案具有快速性好、同步误差小、鲁棒性强等优点.The synchrodrive is the important part in the gantry moving type milling machining centers.In this paper,to keep synchronous in velocity,we introduced a class of Nonlinear PID controller to replace the linear fixed-gain PID controller in the system of synchrodrive control. The linear permanent magnet synchronous servo motors(LPMSM) are used as driving parts as to their high-speed dynamis response ability.The results of simulation indicate that the proposed scheme has the advantages of strong robustness;low synchronous error and good disturbance attennation performance.

关 键 词：非线性PID 同步传动 直线电机 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]