直线电机直接驱动的伺服刀架控制器的研究

The Research of the Controllers for Machine Tool Linear Motor Direct Feed Drives

分析了以直线电机直接驱动下的高频响伺服刀架为核心的非圆截面加工系统的控制结构 ;从小增益定理出发 ,阐述了伺服刀架的最大动态柔度与系统稳定性的关系 ;分别分析了速度单闭环、速度位置双闭环控制对性能的影响 .在双闭环控制器的设计中 ,运用了H∞ 控制理论 ,综合考虑了跟踪性能、动态柔度、控制能量等因素 。

The paper presents the control structure of a non_circular machining system which is based on linear motor direct feed drive. By the small gain theorem, the relation between the maximum dynamic flexibility and the stability of the whole system is established. The design process and the performance of the classical open loop and close loop controller are described respectively. The paper investigates the use of optimal H ∞ control to design for small dynamic compliance, good tracking performance and reasonable control energy