摘要
构建了以滚珠丝杠传动提供宏观运动,以超磁致伸缩驱动器(GMA)进行微观运动误差补偿的单坐标数控工作台精确运动实验系统.提出所设计的GMA的系统模型由频率无关迟滞特性与机电系统传递函数串联构成.由Lyapunov稳定性理论推导出滑模变结构控制方案的自适应控制规律.实验结果显示,GMA通过动态补偿控制可以很好的补偿滚珠丝杠的运动误差,使工作平台的运动精度显著提高.
The experiment system with numerical control working platform is built. The ball screw drives the working platform macroscopic motion. The giant magnetostrietive actuator （GMA） is used to compensate the microcosmic motion error. It is proposed that the transfer function of the GMA cascaded the rate - independent hysteresis model to structure GMA system model. The variable structure control based on the decomposition is proposed, and the adaptive control law for the variable structure control is deduced from the Lyapunov stability theorem. The experiment results show that the motion error of ball screw is compensated after a dynamic compensation control is operated to the GMA, and the motion precision of the working platform is markedly improved.
出处
《南华大学学报（自然科学版）》
2009年第3期31-35,共5页
Journal of University of South China：Science and Technology
基金
湖南省科技厅基金资助项目(2008GK3133)
关键词
误差
补偿
超磁致伸缩驱动器
GMA
微观运动
自适应
error
compensation
giant magnetostrictive actuator （GMA）
GMA
microcosmic motion
adaptive
