基于重复控制的多轴旋转机械动不平衡问题研究

Research of dynamic unbalance of multiple spindle rotating mechanical based on repetitive control

在分析旋转机械体的运动学和动力学模型的基础上,建立了运动系统的动不平衡模型,表现出由于运动系统存在动不平衡问题造成的周期性扰动力矩,影响旋转机械体各轴的定位精度和速率精度。针对旋转机械体系统的动平衡扰动是多周期的,提出重复控制方法,该方法能将减小周期正弦非线性干扰引起的系统误差。选取测试台作为研究对象进行仿真,结果验证了所设计的控制系统对消除动平衡引起的周期性扰动的有效性。

Based on the analysis of kinematics and dynamics model of the rotating machinery, the motor system dynamic unbalance model was established, which shows that periodic disturbance torque caused by dynamic unbalance in motor system which influences localization precision and speed precision of positioning of the rotating machinery. Under the condition that the dynamic balance disturbance is a multiple periodic of the rotating machinery system. An repetitive control method will be put forward. This method can eliminate system error caused by the periodic sinusoidal disturbances. Select test board as the research object. The result of simulation shows that repetitive control can attenuate dynamic unbalance disturbance of rotating machinery system effectively.