高速雕刻头的零相位误差跟踪控制研究

Zero phase error tracking control for high speed engraving system

针对凹版印刷电子雕刻制版设备中关键零部件的控制问题,对工作频率为8 000 Hz的雕刻头进行了零相位误差跟踪控制研究。基于DSP和FPGA,开发了伺服刷新周期为1μs的实时运动控制平台,建立了双质量-弹簧系统动力学模型,采用扫频方法获得了系统幅频和相频响应特性;基于子空间方法,建立了精确数学模型,并基于系统数学模型,提出了采用低通滤波器限制控制器输出的零相位误差跟踪控制;通过仿真确定了低通滤波器带宽。研究结果表明:该控制器改善了系统的阶跃响应动态特性,提升了系统响应速度,系统上升时间减少了25μs;并抑制了谐振振动,验证了该控制算法的有效性和工程可实现性。

Aiming at the problems of real time control of engraving system in engraving cylinder production equipment,zero-phase error tracking control method was studied for the 8000 Hz working frequency engraving system.A real-time motion control platform with servo up-date time of 1μs was developed based on DSP and FPGA,and a dual mass-spring system dynamics model was established for modeling.The sine sweep identification method was applied to obtain the amplitude and phase frequency response model,and an accurate mathematical model was established based on the subspace method.Based on the system mathematical model,a ZPETC with a low-pass filter to limit the controller output was proposed,and the low-pass filter bandwidth was determined by simulation.The result indicates that the step response dynamics is well improved,the rise time is reduced by 25μs,and the resonant vibrations are well suppressed,the effectiveness and engi-neering reliability of the proposed control algorithm are demonstrated.