高频响快速刀具伺服系统的免疫重复控制研究

Research on Immune Repetitive Control for Fast Tool Servo System of High Frequency Response

直线电机伺服系统在高档数控加工机床快速刀具伺服应用中,要求系统对于高频响的周期性输入信号具有较好的跟踪能力,又要对于端部效应引起的周期性负载扰动具有一定的抑制能力。针于这一问题,提出了一种基于重复控制和免疫算法相结合的免疫重复控制策略,设计了重复控制器及免疫反馈控制器,对免疫重复控制与只采用重复控制的方法进行了对比分析。结果表明;所采用的控制方案可以在实现高频响的同时能够很好地抑制系统的负载扰动,对高频周期性输入信号具有较好的跟踪性能,且结构简单、计算量适度。

For high grade CNC machine fast tool servo system driven by linear motor, in many applications, generally not only in need of the system has quite good tracking ability for high frequency response of periodic input signal, but also has a certain inhibition to the periodic disturbance caused by end effect. Aimed at the problem, an immune repetitive control strategy was proposed based on combined of repetitive control and immune algorithm. The immune feedback controller and repetitive controller were designed. The im- mune repetitive control was analyzed in comparison with the method of only using repetitive control. The results show that the proposed control scheme can effectively inhibit system loading perturbation under high frequency response achieved, and accurately tracks the high frequency periodic input signal in performance.