摘要
针对龙门移动式加工中心X轴驱动过程中两套直线电机伺服系统的位置不同步问题,采用了自适应模糊滑模控制方法对两直线电机的位置和速度误差进行补偿,设计了自适应模糊滑模同步控制器。该同步补偿方法充分利用了滑模控制的快速响应及对被控对象变化不敏感的特性。在用模糊控制削弱了滑模的抖振的同时,设计一个自适应调节律来估计最优的调节量,以较小的控制量保证较好的跟踪性能,既保证了系统的稳定性又易于工程实现。通过Simulink仿真验证了该方法的可行性并与模糊滑模控制进行了比较,结果表明该方法提高了同步控制精度。
For the problem that a dual linear motor servo system on the X-axis of gantry moving machining centers is not synchronized during the driven process, in this paper the adaptive fuzzy sliding-mode control is applied to compensate for the positions error and speed error of the two PMLSM. The method above makes full use of the fast and robust performance of sliding mode control, and fuzzy control is used to weak chattering phenomenon in the sliding-mode control. Meanwhile an adaptive tuner, which is derived of Lyapunov stability theorem is utilized to adjust control parameter. In addition, numerical simulation is provided to verify the effectives of the proposed control strategy. And it is compared with fuzzy slide-mode control. The results show that the method in this paper applied improves the synchronization control accuracy.
出处
《组合机床与自动化加工技术》
北大核心
2013年第6期92-94,98,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
辽宁省教育厅科学技术研究项目(L2010404)
关键词
同步控制
模糊滑模控制
伺服系统
直线电机
synchronous control
fuzzy sliding-mode control
servo system
linear motor
