摘要
针对龙门移动式数控机床在运行过程中参数摄动以及未建模动态参数可能对系统造成的影响,结合鲁棒H∞理论的控制方案设计出自适应积分滑模控制器.通过积分滑模变结构控制器对整个系统进行鲁棒控制,以确保磁悬浮系统的稳定性和精确性.为降低滑模控制器抖振的发生,采用自适应控制对控制律中的不确定值进行估测.考虑到刀具切削部件所引起的系统质量变化以及外力干扰等对系统的影响,在控制过程中结合了H∞的控制理论,以增加系统的鲁棒性.仿真研究结果表明,与传统控制器相比该控制器具有很强的抑制扰动能力,可以实现稳定悬浮.
The parameter perturbation and unmodeled dynamic parameters would affect the system performance during the operation of gantry moving numerical control machine tool. An adaptive integral sliding mode controller combining with robust H∞ control theory was designed to ensure the stability and accuracy of the system. The integral sliding mode controller was used for the robust control of whole system in order to decrease the chattering of sliding mode controller. And the adaptive control was adopted to estimate the uncertain parameters in control law. With considering the effect of quality changed by cutting parts and the external disturbances,H∞control theory was combined to enhance the robust of the system. The simulation results show that the present controller has the powerful disturbance suppressing ability and can realize the steady levitation.
出处
《沈阳工业大学学报》
EI
CAS
2010年第4期443-448,共6页
Journal of Shenyang University of Technology
基金
国家自然科学基金资助项目(50805098)
关键词
磁悬浮系统
数控机床
非线性控制
反馈线性化
滑模变结构
自适应控制
H∞控制
鲁棒性
magnetic levitation system
NC machining tool
nonlinear control
feedback linearization
sliding mode variable structure
adaptive control
H∞ control
robustness
