六滑块虚拟轴机床的MBDA与H_∞控制

MBDA and H_∞ control for hexaglide virtual axis machine tools

6滑块结构虚拟轴机床具有机械结构简单,控制复杂的特点.由于6个滑块之间在机械方面存在着强耦合,如何消除耦合,实现高精度控制,从而充分体现这种结构的优点,是应该首先解决的问题.基于模型的扰动抑制(MBDA:Model-BasedDisturbanceAttenuatin)控制引入I-P位置控制器中,使系统与单纯的I-P位置控制器相比响应速度大大加快,精度也很大提高.H∞负载扰动观测器的补偿作用,进一步改善了系统的控制性能.

The hexaglide virtual machine tools,though have simple mechanial structure,are difficult to control. Due to the strong coupling between glides,the outstanding problem to tackle with is that of decoupling so as to attain high precision conrol and therefore fulfill the advantages of this structre. In this paper, the Model-Based Disturbance Attenuation (MBDA) control is introduced into the I-P position conroller which brings faster response and higher percision than that of the sherr I-P position controller. Further compensation from the H_∞ load disturbance observer enhances performance of the control system.