数控龙门移动式镗铣加工中心动态精密同步进给控制

Dynamically synchronized and high precision control for NC boring-milling machining centers of gantry-moving type

对数控龙门移动式重型镗铣加工中心提出一种新的动态精密同步进给控制方法 .通过设计H∞ 鲁棒控制器 ,对两侧立柱加速度和速度同时进行状态反馈补偿控制 ,使其在不平衡负载或不确定性扰动作用下两边快速恢复到同步状态 ,从而实现龙门立柱驱动系统加速度、速度和位置的动态同步 .驱动元件采用两套参数相同的直线永磁同步伺服电机 .

This paper mainly deals with a new Dynamically synchronized contro lmethod of high precision for NC boring milling machining centers of gantry moving type. By designing an H ∞ robust controller to be used as both speed and acceleration state feedback compensation control, the machining centers can be rapidly restored synchronous state under the condition that unbalanced loads or random disturbances. The result of acceleration, speed and position dynamically synchronized control is achieved. Two linear permanent magnet synchronous motors (LPMSM) with the same parameter are used as driving parts. The results of simulation test indicate that the proposed scheme is advanced and feasible.