摘要
针对双直线伺服系统的两个位置环间的动态同步进给控制问题,子系统的速度和位置控制器的设计采用具有较强鲁棒性和跟踪特性的积分 比例(IP)方法.并在分析双直线电动机同步进给伺服系统产生不同步现象原因的基础上,基于变结构控制理论设计了滑模同步控制器,以解决双位置环系统输出端机械耦合、电机参数变化和其它扰动等不确定性因素对同步精度的影响.仿真结果表明该控制方案具有很强的鲁棒性,在不对称负载的条件下能实现动态同步进给.
The problem of dynamically synchronous feed between two position loops within a linear servo system is researched. Integeralproportion (IP) method is used to design the speed and position controller of the subsystem. After analyzing the reasons for nonsynchronous phenomenon of the dual linear motors sysnchrofeed servo system, a sysnchronous feed sliding mode compensation controller is designed based on variable structure control theory to eliminate the influence to synchronous feed precision caused by the machine coupling on the output extremity of the dual position loop system and other disturbances and uncertainties. Simulation results verify that the proposed control strategy has strong robustness and can realize dynamic synchronization,even under the condition of asymmetrical load.
出处
《沈阳工业大学学报》
EI
CAS
2003年第5期408-411,共4页
Journal of Shenyang University of Technology
基金
国家自然科学基金项目资助(50075057)
关键词
动态同步进给
直线电机
IP控制
滑模控制
dynamic synchro-feed
linear motor
IP control
sliding mode control
