直线伺服6杆虚拟轴机床轨迹跟踪控制的研究

针对永磁直线伺服电动机（PMLSM）驱动的6自由度虚拟轴机床提出了一种新的轨迹跟踪控制方法，该方法采用神经网络实现实时IP位置控制器的在线设计，将杆间的耦合作用和负载扰动看作是电机动力学参数的变化，利用观测器对电机参数进行观测，从而使计算大大简化，利用给定加速度来调整动子电流的大小，间接实现了加速度跟踪控制，改善了虚拟轴机床的轨迹跟踪性能，仿真实验表明该方法对虚拟轴机床各杆的位置、速度，加速度实现了精确的跟随控制，系统具有很强的鲁棒性。

Trajectory tracking control for 6-DOF virtual axis machine tool driven by permanent magnetic synchronous linear motor

This paper presents a new tracking control for virtual axis machine tool driven by permanent magnetic linear synchronous motor (PMLSM).The IP position controller is realized by neural network,and the coupling and load disturbances are regarded as the variation of PMLSM's dynamic parameters directly,which are observed by the observer to compensate for the load and coupling disturbance,so the calculation is simplified largely.In this paper,the mover current is adjusted on the given acceleration command,and the acceleration control is realized indirectly,which improves the tracking performance.The simulation results verify that the controls for the position,speed and acceleration of each link are attained,and the system is robust to uncertain factors.