龙门移动式镗铣加工中心自校正调节器控制

Self-tuning regulator control for boring-milling machining centers of gantry moving type

对龙门移动式镗铣加工中心两立柱位置同步控制提出了一种新的自校正调节器控制方法。用递推最小二乘辨识算法对被控对象参数在线辨识 ,用H∞ 鲁棒控制算法对调节器参数在线求解 ,使系统在未知有界扰动、参数变化和未建模动态等不确定性因素同时存在时 ,对调节器参数进行自动整定 ,保证速度同步控制的鲁棒性 ,从而间接实现位置同步控制。仿真结果表明该方案控制效果好 ,鲁棒性强 。

This paper presents an self-tuning regulator control new method for boring-milling machining center of gantry-moving type. Recursive least squares identification algorithm with insensitive region and projection tuning is applied for parameters real-time identification of control object,and H ∞ robust control algorithm is used to parameters real-time calculation of regulator .When unknown and bounded disturbance, parametric uncertainties and unmodeled dynamics exit at the same time ,the system will automatically tune regulator,s parameters so as to guarantee robustness of speed synchronized control system .and achieve indirectly position synchronized control The results of simulation test indicate that the proposed scheme has a satisfied control effect and strong robustness ,and that meets demand of speed synchronized control as well as position synchronized control for boring-milling machining centers of gantry-moving type.