立式直线驱动的配重波动建模与动态补偿抑制

Dynamic compensation suppression and fluctuation modeling of counterweight disturbance for vertical layout linear motor

针对直线电机立式驱动时受配重装置扰动而产生冲击的特点,提炼并归纳了引起冲击的配重平衡力波动和配重摩擦力波动因素;基于等熵一元绝热气流理论,构建了配重平衡力波动模型;利用Stribeck原理,构建了改进的配重摩擦力波动模型;通过永磁同步直线电机的电磁推力方程,设计了基于动态补偿器的配重扰动抑制方法;结合电流环双PID解耦与速度环模糊PID自适应参数整定,构建立式直线驱动控制系统。以电火花机主轴为例进行仿真和实验,结果表明驱动系统的速度波动和振动得到了有效的抑制,相比传统的控制方法位置和成形精度更高。

Considering the characteristics of shock action on vertical layout linear motor caused by counterweight disturbance, two key fluctuation factors, the balance-force and friction-force were extracted and summed up. Based on the one-dimensional flow theory with isentropic adiabatic feature, a balance-force fluctuation model was put forward. According to the principle of Stribeck, an improved friction-force fluctuation model was also presented. In the light of the fluy equation of permenant magnetic straight linear motor （ PMSLM）, a dynamic compensator was developed to suppress the counterweight disturbance. Synthetically applying the double PID uncoupling and fuzzy PID self-adaptive parameter adjustment, the spindle control system for vertical layout linear motor was set uP. The simulation and experiment results show that the vibration and velocity fluctuation are significantly suppressed. The precision of position and molding is superior to that by the conventional control strategy.