基于H^∞鲁棒控制器的高精度快速同步进给技术的应用研究

Application research on high-precision rapid synchronous traversing technology based on H∞ Robust controller

针对高速龙门移动式镗铣加工中心同步传动的不一致性进行了研究，提出Ｈ∞状态反馈控制器构成交叉耦合控制器，对速度环进行补偿控制，使其在不平衡负载或不同扰动下能快速恢复到同步状态。驱动元件采用直线永磁同步电动机，以发挥其高速动态响应能力，进一步实现快速同步。仿真结果表明，此种控制方案有较强的鲁棒性，动态过程同步误差小。

The noncoincidental problem of synchrodrive for high-speed gantry-moving type milling machining centers is researched. H∞ state feedback controller is presented in this pa- per to build up cross-coupled controllers to compensate and control for velocity loops, which can rapidly restore synchronous state under the condition of unbalanced loads or different disturbances. The linear permanent magnet synchronous motors (LPMSM) are used as driving parts to bring their highspeed dynamic response ability into play for further realizing rapid synchronism. The results of simulation indicate that the proposed scheme has strong robustness and synchronous error is lower during dynamic process.