直线电机伺服系统精密数字控制方法研究

直线电机是实现非圆截面类零件数控车削加工的关键,针对其跟踪目标轨迹已知和对外部干扰及模型参数摄动敏感的特点,研究了一种具有离散时域扰动观测器的数字预见控制方法。首先,通过在最优状态反馈控制的基础上增加目标预见前馈项,减小了直线电机伺服系统的位置跟踪误差;其次,将外部干扰和模型参数摄动作为等效控制输入,设计了一种离散时域扰动观测器加以抑制,增强了预见伺服系统的鲁棒性。仿真结果表明,该控制方法能够满足高速高精度条件下对非圆截面零件的车削加工要求。

Accurate Digital Control Scheme for Linear Motor Servo System

The paper proposed a digital preview control scheme with a discrete time disturbance observer for Linear Motor,which is the key to NC turning for work-pieces with noncircular profile,and has the characteristics of a known target trajectory and sensitivity to extern perturbation and parameter variety.Firstly,the position tracking error of the linear motor servo system are reduced,through adding a preview feedforward to optimal state feedback control.Secondly,a discrete time disturbance observer is presented,regarding the extern perturbation and parameter variety as the equivalent input disturbance,and the robustness of digital preview servo system is improved.The simulation results show that the control scheme can meet the requirements for turning work-pieces with noncircular profile in condition of high speed and high accuracy.