数控机床永磁同步直线伺服系统免疫控制

Immune control for permanent magnet synchronous linear servo system of CNC machine

针对数控机床永磁同步直线电机(PMLSM)伺服进给系统存在的波纹推力扰动、齿槽力扰动、端部效应扰动和其他不确定性扰动的问题,应用免疫反馈系统的免疫性原理在传统PID基础上设计了一种免疫PID控制器.免疫系统在大干扰和不确定性环境中都具有很强的鲁棒性和自适应性,使伺服系统既具有快速响应和设计简单的特点,又结合了免疫控制的抗干扰特性.在M ATLAB环境下对永磁同步直线电机数控机床伺服进给系统进行仿真,结果表明,此种控制方案下的PMLSM伺服系统具有更好的控制精度、较快的响应速度和较小的超调量,抗干扰能力更强.

In order to solve the problem that there exists the ripple thrust disturbance,cogging force disturbance,end effect disturbance and other uncertainty disturbances in the PM LSM servo feed system of computer numerical control( CNC) machine, an immune PID controller was designed based on the traditional PID through adopting the immunity principle of immune feedback system. The immune system has strong robustness and adaptability in the large disturbance and uncertainty environment,which makes the servo system not only have such features as fast response and simple design, but also combine the anti-interference of immune control. The simulation was performed for the PM LSM servo feed system of CNC machine under the M ATLAB environment. The simulated results showthat the PM LSM servo system with the present scheme has better control accuracy,fast response speed,smaller overshoot and strong anti-interference ability.