模糊自整定PID的液压马达驱动机床主轴速度控制研究

Research on Speed Control of Machine Tool SpindleDriven by Hydraulic Motor Based on PID

液压马达驱动机床主轴系统具有参数时变和高度非线性,传统PID控制器控制精度不高。针对液压马达驱动机床主轴系统速度控制问题,采用模糊自整定PID控制器实现液压马达驱动机床主轴系统的有效控制,并对控制效果进行仿真验证。构造了液压马达驱动机床主轴系统模型简图,建立了液压马达驱动机床主轴系统数学模型。对传统PID控制器参数,用模糊控制器进行实时整定,开发了模糊自整定PID控制器。最后,采用MATLAB对液压马达驱动机床主轴系统进行仿真。同时,与传统PID控制器的计算结果进行对比和分析。仿真结果显示:采用模糊自整定PID控制器的液压马达驱动机床主轴转速超调量小,具有更快的响应时间,跟踪精度高,同时系统能耗减少20%左右;即使受到较大随机干扰,模糊自整定PID控制器也能快速消除干扰,使机床主轴转速处于受控状态。采用模糊自整定PID控制器可以有效提高液压马达驱动机床主轴系统的动态稳定性以及抗干扰能力。

The control accuracy of the traditional PID controller is not high because the spindle system of hydraulic motor-driven machine tool has time-varying parameters and higher non-linearity.Aiming at the speed control problem of the hydraulic motordriven machine tool spindle system,the fuzzy self-tuning PID controller is adopted to realize the effective control of the spindle sys-tem and the control effect is simulated and verified in this paper.The model diagram of spindle system is constructed,and the mathematical model of spindle system is established.For the parameters of traditional PID controller,the fuzzy controller is used for real-time tuning and the fuzzy self-tuning PID controller is developed.Finally,MATLAB is used to simulate the spindle sys-tem.At the same time,the results are compared and analyzed with the traditional PID controller.The simulation results show that the spindle speed overshoot of the fuzzy self-tuning PID controller is smaller,and has faster response time,higher tracking accu-racy.The system energy consumption is reduced by about 20%;even if it is subjected to larger random interference,the fuzzy selftuning PID controller can quickly eliminate the interference and keep the spindle speed of the machine tool in a controlled state.The dynamic stability and anti-interference ability of the spindle system can be effectively improved by using of the fuzzy self-tun-ing PID controller.