摘要
针对动梁式龙门机床双驱动系统广泛存在的双驱不同步问题,测量并设计补偿控制器以补偿双驱动态不同步误差。首先规划了S形加减速曲线输入,利用光栅尺反馈测量出系统的不同步误差。然后设计了动态不同步误差补偿控制器,采用PID控制算法,实现了对双驱两同步轴动态不同步误差的补偿,其中PID控制算法的参数通过稳定边界法确定。最后,在DK-1200动梁式龙门数控机床上进行了实验,实验结果验证了该补偿控制器的有效性。
In order to solve the problem of dynamic non-synchronous widely existing in dual drive machine tools,the non-synchronous errors were measured and a compensation controller was designed.First,a kind of S accelerate/decelerate curve was deduced,the dynamic non-synchronous errors were detected using linear scale.Second,PID compensation controller was designed to compensate the non-synchronous errors and the parameters of PID controller were obtained by means of Z-N method.Finally,some experiments were carried out on DK-1200 gantry-type machine tools with travelling bridge.The results show that PID controller has a satisfactory performance.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2012年第8期915-919,共5页
China Mechanical Engineering
基金
国家科技重大专项(2009ZX04009-015)
国家重点基础研究发展计划(973计划)资助项目(2009CB724407)
关键词
双驱动
动态不同步误差
PID补偿
稳定边界法
dual drive
dynamic non-synchronous error
PID compensation controller
Z-N method
