高速高精度直流伺服运动控制器的设计

为满足数控伺服系统高速高精度的加工要求,提高数控雕刻机的性价比,提出了一种以TMS320C2812为控制核心、以L6203为功率驱动模块,以永磁直流伺服电机为控制对象的二维直流伺服实时运动控制系统.控制器采用先进的四模块结构,即摩擦补偿模块、速度环干扰观测器模块、位移环反馈控制模块和采用零相位误差跟踪控制技术的前馈控制器模块,有效提高了系统的跟踪精度和加工速度.实验结果证明该系统运行稳定、跟踪精度高、加工速度快,有望在数控加工行业中得到广泛应用.

Design of High-Speed and High-Accuracy DC Servo Controllers

In order to meet the request for high speed,high accuracy automatic numeric-control process, a controller structure for high-accuracy CNC system of the craving machine was proposed in this paper.DSP was used as its control system kernel and full motion control processor,L6203 as its DC motor drive module, and small power wastage permanent magnet as its executants,thus these parts making up the hardware configuration.The overall control system consisted of four elements: a friction compensator,a disturbance observer for the velocity loop, a position loop feedback controller, and a feedforward controller based on ZPETC(zero phase error tracking controller). It is proven in practice that this servo-control system has some excellent capabilities such as precise trajectory,little responding time,high precision in fixing position.Therefore it is expected to be widely used in CNC system.