基于干扰观测器的快速刀具直线伺服系统的增量滑模控制

Incremental Sliding Mode Control for Fast Tool Linear Servo System Based on Disturbance Observer

针对快速刀具直线伺服系统在实际加工过程中存在参数变化、摩擦力、切削力等不确定性干扰,为提高系统在周期性输入信号作用下的跟踪精度,提出一种基于干扰观测器的增量滑模控制方法。设计干扰观测器对不确定性干扰进行有效估计和抑制,在增量滑模控制中通过将上一时刻控制量叠加到当前控制量中实现增量式控制,从而较好地降低抖振。仿真结果表明:与传统滑模控制方法相比,采用基于干扰观测器的增量滑模控制方法有效解决了快速刀具直线伺服系统在周期性干扰作用下的跟踪问题,提高了系统的跟踪精度和抗干扰性能。

In the actual machining process, the fast tool linear servo system has uncertain disturbances such as parameter change, friction, cutting force, etc. In order to improve the tracking accuracy of the system under the action of periodic input signal, an incremental sliding mode control method based on disturbance observer is proposed. The disturbance observer is designed to effectively estimate and suppress uncertain disturbances. In the incremental sliding mode control, the chattering can be reduced by adding the previous controller to the current controller. Simulation results show that compared with the conventional sliding mode control method, the incremental sliding mode control method based on disturbance observer can effectively solve the tracking problem of the fast tool linear servo system under periodic disturbance, and improve the tracking accuracy and anti-interference performance.