基于PD-滑模耦合算法的压电智能薄板颤振抑制

Chatter Suppression of Piezoelectric Intelligent Thin Plate Based on PD–Sliding Mode Coupled Control

针对工件柔性主导的薄壁件铣削颤振问题,提出了一种基于PD–滑模耦合算法的压电智能薄板颤振抑制方法。首先设计了只需位移测量的主动控制算法,基于滑模控制理论处理系统参数不确定性和外部扰动,通过动态补偿器对未知切削状态进行在线近似和补偿;为解决传感误差和系统时滞问题,在滑模控制器中进一步耦合了时空依变PD控制模型,借助ABAQUS仿真拟合控制参数时变函数;最后设计了一套薄壁件主动控制装置,试验结果显示采用主动控制可有效抑制薄壁件铣削颤振,验证了控制方法的可行性。

This paper aims at the chatter problem in thin-walled parts,which is dominated by the flexibility of the workpiece.A chatter suppression method for the piezoelectric intelligent thin plate was presented based on the PD–sliding mode control(SMC)coupled algorithm.Firstly,an active control algorithm with only displacement measurement required was designed.The uncertainty of system parameters and the external disturbance were treated by the SMC theory.In addition,a dynamic compensator was established to approximate and compensate the unknown cutting state online.To overcome the sensing error and system delay,a time-space-varying PD control method was further coupled in the SMC.The time-varying functions of control parameters werefitted with the help of ABAQUS simulation.Finally,a set of active control devices was designed for thin-walled workpiece.The experimental results show that the milling chatter of thin-walled parts can be suppressed effectively under active control,which verifies the feasibility of the proposed method.