基于干扰观测器的龙门移动式镗铣加工中心同步控制

Synchronous Control of Gantry Moving Type Boring-Milling Machining Centers Based-on Disturbance Observer

针对龙门移动式镗铣加工中心同步传动不一致性问题进行研究,应用干扰观测器来抑制加工中心双直线电机驱动的X轴方向上由于外部力矩干扰以及模型参数变化等因素造成的不同步现象。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,此种控制方案是十分有效的,具有较强的鲁棒性,动态过程同步误差小,从而能够较好地满足被控对象对高精度的要求。

The inconsistency of the synchronous drive for gantry-moving type boring-milling machining centers is studied. Disturbance Observer is used in dual linear servo motors X-drifts of gantry-moving type boring-milling machining centers to reject the asynchronous phenomenon caused by the parameters variation and outer torques. In addition, for the X-drift asynchronous problem caused by Y-drift tool position variation, load dynamic compensation is proceeded. The results of simulation show that the proposed scheme is effective, and the system has strong robustness , good rapidity and small dynamical synchronous error. Thus this control method can satisfy the demand for the high precision synchronous control.