基于干扰观测器的双直线电机驱动系统同步控制

Based-on disturbance observer synchronous drive of dual linear motors system

文章主要应用干扰观测器来抑制加工中心双直线电机驱动的X轴方向上的不同步现象。此外 ,还针对Y轴方向上的由于刀架位置变化导致的X轴方向上的不同步进行了负载动态补偿。仿真结果表明 ,此种控制方案鲁棒性强 ,动态过程同步误差小 。

In this paper, disturbance observer is used in dual linear servo motors X-drifts of gantry-moving type boring-milling machining centers to limit the asynchronization caused by the parameters variation and outer torques. Besides, load dynamic compensation of Y-drift is proceeded to decrease disturbance to X-drifts. The results of simulation test indicate that the proposed system has strong robustness and good rapidity, and dynamical synchronous error is small. So this control method can satisfied the demand of the controlled subject for the high precision synchronous control.