数控交流伺服系统三环整定及应用

Parameter tuning and application of the three loops in a NC servo system

建立三相永磁同步电机数控交流伺服系统的三环控制框图,分析了三环的PID控制器整定,同时提出采用稳定边界法整定三环的PID参数,给出了具体的整定步骤。以数控高速铣齿机床为实例,在不考虑机床机械部分的情况下,用MATLAB/S imu link模块建立其Z向进给位置伺服系统的仿真模型,采用稳定边界法在MATLAB中仿真整定。结果表明伺服系统无超调、响应快且具有较好的稳定性,能满足高速铣齿机床的性能要求。

The control block diagrams of the three loops in a numerical control （NC） servo system based on a permanent magnet synchronous motor （PMSM） were built. Accompanying with analyzing the regulation of PID controller, a stable boundary method used to tune the parameters of PID controller was proposed. The tuning steps of the method were listed in detail as well. Taking a high-speed milling machine as an example, the simulation model of z-axis position servo system was constructed in MATLAB/Simulink module, in which the mechanism system was not considered. Tuning the parameters of PID controllers by the stable boundary method, simulation results show that the position servo system has good dynamic characteristics of fast response, zero overshoot and good stability. From the results, it can be concluded that the system can meet the control needs of milling machines.