摘要
双直线电机同步驱动是龙门移动式镗铣加工中心的关键技术。将解耦控制和内模控制应用在由两台永磁直线同步电机驱动的龙门移动式镗铣加工中心上。针对龙门柱存在的机械耦合设计了解耦控制器,解耦后的系统可以看作是两个独立的单输入单输出系统。然后,对解耦后的单电机伺服系统提出了一种二自由度内模控制方案,使系统对参考输入信号具有较高的响应能力,并且能够很好地抑制模型失配与外部扰动。仿真结果表明,所提出的控制方案具有响应速度快,鲁棒性强,动态过程同步误差小的优点,从而能够较好地满足高精度同步控制的要求。
The synchrodrive technique of dual linear motors is the important part in the gantry-moving type boring-milling maching center. A decoupling control and internal model theory application on gantry-moving type boring-milling maching center driven by dual permanent magnetic linear synchronous motors （PMLSM） was described. The decoupling control theory is used for restrain mechanical coupling effects, so that the system can be treated as two independent single input single output systems. Then, the proposed two-degree-of-free- dom （2-DOF） internal model control （IMC） scheme for single servo system decoupled can guarantee high response ability for the reference signals, high restraint ability for the model perturbations and the external disturbances. The results of simulation indicate that the proposed scheme has the advantages of rapid response, strong robustness, and small dynamical synchronous error. Thus this control method can satisfy the demand for the high precision synchronous control.
出处
《电气传动》
北大核心
2009年第6期51-54,共4页
Electric Drive
基金
沈阳科学技术计划项目(1071201-1-00)
关键词
龙门移动式镗铣加工中心
永磁直线同步电机
同步驱动
解耦控制
内模控制
gantry-moving type boring-milling machining center
permanent magnetic linear synchronous motor（PMLSM）
synchrodrive
decoupling control
internal model control（IMC）
