基于交叉耦合与迭代学习的伺服系统运动控制研究

Motion control of servo system based on cross-coupling and iterative learning

针对数控机床进给伺服系统各轴动态响应不一致,导致零件加工精度降低的问题,对数控机床进给伺服系统运动控制进行了研究。采用了迭代学习控制与交叉耦合结构相结合的控制方法,设计了进给伺服系统单轴位置环的迭代学习控制器,抑制了单轴跟随误差,设计了多轴的变增益交叉耦合迭代学习控制器,来抑制多轴轮廓误差;利用在MATLAB/SIMULINK环境中搭建的仿真模型,对三叶玫瑰曲线轨迹进行了跟踪验证;将所设计的控制器与其他控制方法进行了对比分析。研究结果表明:与其他控制方法相比,所设计的控制器跟踪曲线的最大轮廓误差和平均轮廓误差都得到了降低,证明所设计的单轴和多轴运动控制器能够实现降低轮廓误差,提高零件加工精度的目的。

Aiming at the problem that the dynamic response of the axes of the CNC machine feed servo system was inconsistent,which led to the reduction of part processing accuracy,the motion control of the feed servo system of CNC machine tool was studied.The control method that combined iterative learning control and cross-coupling structure was proposed,the iterative learning controller of the single-axis position ring of the in-service servo system was designed to suppress the single-axis following error,and the multi-axis variable gain cross-coupling learning controller was designed to suppress the multi-axis contour error.By using the simulation model built in MATLAB/SIMULINK environment,the trajectory of the three-leaf rose curve was tracked and verified,and the designed controller was comparing with other control methods.The results indicate that the maximum contour error and average contour error of the tracked curve are reduced comparing with other control methods,which proves that the single-axis and multi-axis motion controllers can reduce the contour error and improve the precision of part processing.