直线伺服6杆虚拟轴机床控制的研究

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控制方法，该方法将杆间的耦合作用和负载扰动作为一个整体看作PMLSM动力学参数的变化，利用观测器对电机逆动力学模型进行观测，并结合由神经网络构成的IP位置控制器对加速度进行控制，从而提高了各杆的位度实现了精确的跟随控制，系统具有很强的鲁棒性。

Research on control for 6-DOF virtual-axis machine tool driven by PMLSM

This paper presents a new kind of approach to control the 6-dof virtual-axis machine tool driven by permanent magnetic linear synchronous motor (PMLSM). The coupling force between links and the load disturbance are regarded together as the dynamical parameters' variation of PMLSM, which is identified by the proposed observer. With the IP position controller realized by neural network and the observer, the acceleration control is achieved, which improves the position tracking performance and obviates a lot of cumbersome calculation. The simulation results verify that the tracking control for the position, speed and acceleration of each link is attained, and that the system is robust to uncertain factors.