直线伺服双位置环同步进给加速度H_∞鲁棒控制器设计

Acceleration H_∞ robust controller design for linear servo double position loop synchronized feed

以数控龙门移动式镗铣加工中心龙门柱纵向同步控制为背景 ,设计 H∞ 鲁棒控制器 ,对加速度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快速恢复到同步状态 ,从而实现位置、速度和加速度三重同步。驱动元件采用直线永磁同步伺服电机。仿真结果表明 ,该方案鲁棒性强、动态过程同步误差小。

The gantry synchronous control problem of numerical control gantry-moving type milling machining centers is studied. An H ∞ robust controller is presented to build up state feedback, which can rapidly restore synchronous state under the condition of unbalanced loads or random disturbances. The result of position, speed and acceleration synchrodrive control is achieved. Linear permanent magnet synchronous servo motors (LPMSM) are used as driving parts. The results of simulation indicate that the proposed scheme has strong robustness, and that the synchronous error is lower during dynamic process.