双直线电机伺服系统动态同步进给的鲁棒H∞控制

以两台直线电机作为高速度、高精度龙门移动式镗铣床的龙门柱纵向进给的传动构构为应用背景.采用直接传动方案，对同一直线伺服系统内双位置环间的动态同步进给控制问题进行了研究.基于H_∞控制理论设计了一个同步传动控制器，通过对电流环进行补偿控制提高响应速度实现动态同步进给来保证系统的同步精度；由IP位置控制器来满足位置系统跟踪性能要求.仿真结果表明了所设计方案的合理性和有效性.既保证了闭环系统的鲁棒稳定和具有好的跟随性能，又抑制了模型摄动及外部干扰对系统的影响，保持了系统的鲁棒性能.

Robust H ∞ control for dynamically synchronized feed in dual linear motor servo system

Dual linear motors are used as actuating mechanism of the longitudinal feed of the gantry column for high speed/precision gantry-moving milling machines.Direct drive scheme is adopted and the problem of dynamically synchronized feed between two position loops within a linear servo system is researched to improve the system performances.After analyzing the reasons for non-synchronous phenomenon,a synchronized feed controller is designed based on control theory.The current loop is compensated for enhancing the response speed to implement dynamically synchronous feed.Thus disturbances and uncertainties are restrained and stability and robustness performances of the system are guaranteed.Each position loop has its own IP position controller to meet the required tracking performances.The simulation results show that the design is reasonable and effective.The proposed scheme can ensure the robust stability of the system and better tracking performance,at the same time,suppress the influences of the model perturbation and external disturbances to guarantee the robustness of the system.