摘要
对数控龙门移动式镗铣加工中心速度同步控制提出了一种新的H_∞鲁棒自适应控制方法。用有死区和投影校正的递推最小二乘辨识算法对被控对象参数在线辨识,用H_∞鲁棒控制算法对调节器参数在线求解,使系统在未知有界扰动、参数变化和未建模动态等不确定性因素同时存在时,对调节器参数进行自动整定,以保证速度同步控制的鲁棒性。仿真实验结果表明该方案控制效果好,鲁棒性强,可满足速度同步控制要求。
This paper presents a new robust adaptivespeed synchronized control method for gantry--movingtype NC boring--milling machining centers. Recursiveleast square identification algorithm with insensitive re- gion and projection tuning are applied for parameter real--time identification for the subject to be controlled, androbust control algorithm is used to carry out parameterreal--time calculation of the regulator. When unknownand bounded disturbance, parametric uncertainties andunmodeled dynamics exist at the same time, the systemwill automatically tune regulator parameters so as toguarantee robustness of speed synchronized control sys-tem. The results of simulation indicate that the proposedscheme has a satisfied control effect and strong robust-ness, and the scheme meets the demand of speed syn-chronized control system.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2003年第22期1966-1969,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50075057)
辽宁省教育厅资助项目(20141040)
关键词
数控龙门移动式镗铣加工中心
辨识算法
H∞鲁棒自适应控制
gantry-moving type
NC
boring-milling machining center
parameter identification algorithm
robust adaptive control
