基于ZPETC的雕刻机直流伺服控制系统设计

Direct Current Servo Controller Design for Engraving Machine Based on Zero Phase Error Tracking Control

为了提高雕刻机的跟踪性能和定位精度,首先在其直流伺服控制系统设计中引入了零相位误差跟踪控制器(ZPETC),然后通过模型辨识、非线性摩擦补偿及干扰观测器的设计来克服ZPETC存在的对系统建模误差和参数变化敏感的缺点。在上述研究的基础上,采用TMS320F2812型DSP设计了集ZPETC、PD控制器及干扰观测器一体的直流伺服控制系统。实验结果表明:为雕刻机所设计的直流伺服控制系统不仅有鲁棒性强和抗干扰能力强的特点,而且有良好的定位精度和跟踪性能。

In order to improve tracking performance and orientation precision for an engraving machine, a zero phase error-tracking controller was firstly introduced for its DC servo control system. Due to the draw- backs such as sensitive dependence on the system＇s modeling error and parameters change for ZPETC, over- come them by making use of model identification, nonlinear friction compensation and disturbance observer＇s design. Based on abovementioned researches, a TMS320F2812 type DSP was adopted to design the DC servo control system comprised of ZPETC, PD controller and disturbance observer. Experiment results validate that the designed DC servo controller for the engraving machine has the merits of robust stability and anti-interfer- ence, nicer tracking performance and orientation precision.