摘要
以具有大进给力的纳米级驱动部件为被控对象,在分析不同模态过渡过程的基础上,指出极点差异是导致多模态难以实现平稳切换的关键因素之一。采用状态反馈矩阵和增益补偿环节来改造被控对象,采用零极点相消方法建立广义的一阶模型,解决了多模态的平稳过渡问题。应用提出的多模态平稳过渡策略,对具有大进给力的纳米级驱动部件进行控制,在5kN的大进给力下,进给精度达到了10nm,模态过渡调整时间小于1min,充分证明了该方法的实用性和可行性。
The nanometer drive parts having large teeding torce were taken as controlled devices, on the basis of analysing the transition processes of different modals, putting forward that pole＇s difference was one of key factors that induce it difficult to switch between modals smoothly. The state feedback matrix and gain compensation were developed to remodel controlled system, establishing generalized first--order model by method of removing the same zero and pole, therefore, the smooth transition problem in multimodal was solved. The smooth transition control strategy of multimodal presented here was used to control nanometer drive parts having large feeding force, less than 10nm control errors and less than 1 minute adjusting time between modals under 5000N feeding force are obtained. So the method of smooth transition in multimodal control strategy has fully proved its practicality and feasibility.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2005年第16期1423-1426,共4页
China Mechanical Engineering
基金
国家863高技术研究发展计划资助项目(2002AA423110)
关键词
增益补偿
多模态切换
纳米控制精度
平稳过渡
状态反馈
gain compensation
multimodal switchover
nanometer control precision
smooth transition
state feedback
