摘要
直接驱动数控转台采用环形永磁力矩电机的伺服系统易受负载转矩变化的影响,显著降低系统的伺服动态刚度。基于具有前馈的伪微分反馈控制框架,采用H∞混合灵敏度控制方法,将动态刚度的最大化设计问题转化为H∞鲁棒控制的最小化设计问题来设计控制器。该控制器使系统对负载扰动及自身参数变化具有较强的鲁棒性,提高了系统对输入信号的响应速度,解决抗干扰性能和快速跟踪性能之间的矛盾,增强了系统的动态刚度。仿真结果表明,所设计的H∞控制器使数控转台回转送进系统对负载扰动及参数变化具有较强的鲁棒性。
Ring permanent magnet torque motor servo system, used in direct drive NC rotary table, suffers from the effect of load torque change,which greatly reduces the servo dynamic stiffness. Based on Pseudo Derivative Feedback with Feedforward Gain（PDFF） control configuration, H∞ mixed sensitivity control method was adopted, and the maximized design problem of dynamic stiffness was converted into the minimized design problem of H∞ robust control. The controller is better in robustness against load disturbances and parameter variations. The controller raises the responding speed of the system to input signal, and solves the conflict between interference rejection and fast tracking performance, thus enhances the dynamic stiffness. Simulation results show that the proposed H∞ controller enables the NC rotary table rotary feeding system to be better in robustness against load disturbances and parameter variations.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第16期1966-1969,1973,共5页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50375102)
