基于分数阶PID和重复控制的快速刀具伺服系统

针对永磁直线同步电机(PMLSM)驱动的快速刀具伺服系统在高频输入信号时的系统跟踪精度问题,设计了一种分数阶PID重复控制算法.由于系统的参考信号和干扰信号都具有周期性的特点,通过对系统参考信号的跟踪和扰动的抑制研究,将改进型分数阶PID控制和重复控制相结合,利用重复控制对周期性输入或复杂干扰信号的跟踪和抑制能力来补偿分数阶PID控制器,使系统有快速响应能力的同时具有较强的抗干扰性.仿真结果表明,所提出的控制策略有效地提高了伺服系统的跟踪精度,并对周期性扰动有较好的抑制作用.

Fast tool servo system based on fractional order PID and repetitive control

Aiming at the system tracking accuracy problem of fast tool servo system driven by permanent magnet linear synchronous motor(PMLSM)under the high frequency input signal, a fractional order PID repetitive control algorithm was designed.Due to the characteristics that both reference signal and disturbance signal of the system had the periodic feature, the modified fractional order PID control was combined with the repetitive control through the inhibiting study on the tracking and disturbance of reference signal.With the tracking and inhibiting ability of repetitive control to the periodic input or complex interference signal, the fractional order PID controller was compensated, which made the system have a quick response ability and a strong anti-interference ability at the same time.The simulated results show that the proposed control strategy can effectively improve the tracking accuracy of servo system, and has a better inhibition effect for the periodic disturbance.