Maxwell电磁力驱动快速刀具伺服系统轨迹跟踪控制

doi:10.3901/JME.2022.03.259

机械工程学报 ›› 2022, Vol. 58 ›› Issue (3): 259-265.doi: 10.3901/JME.2022.03.259

扫码分享

Maxwell电磁力驱动快速刀具伺服系统轨迹跟踪控制

夏薇¹, 朱紫辉¹, 陈栎¹, 朱利民², 朱志伟¹

1. 南京理工大学机械工程学院南京 210094;
2. 上海交通大学机械与动力工程学院上海 200240

收稿日期:2021-02-19 修回日期:2021-08-18 出版日期:2022-02-05 发布日期:2022-03-19
通讯作者: 朱志伟(通信作者),男,1988年出生,教授,博士生导师。主要研究方向为先进光学制造技术、智能微纳制造技术和微纳驱动与控制。E-mail:zw.zhu@njust.edu.cn
作者简介:夏薇,女,1997年出生。主要研究方向为刀具运动控制技术。E-mail:xiawei@njust.edu.cn;朱紫辉,男,1994年出生,博士研究生。主要研究方向为智能微纳制造技术。E-mail:1252022235@qq.com;陈栎,男,1995年出生,博士研究生。主要研究方向为先进电磁驱动与控制技术。E-mail:117101021473@njust.edu.cn;朱利民,男,1973年出生,教授,博士研究生导师。主要研究方向为微纳驱动与控制、数控加工技术与装备、机器人化智能制造装备。E-mail:zhulm@sjtu.edu.cn
基金资助:
国家自然科学基金联合基金重点（U2013211）和中央高校基本科研业务费专项资金（30921013102）资助项目。

Trajectory Tracking Control of a Fast Tool Servo System Driven by Maxwell Electromagnetic Force

XIA Wei¹, ZHU Zihui¹, CHEN Li¹, ZHU Limin², ZHU Zhiwei¹

1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094;
2. School of Mechanical and Power Engineering, Shanghai Jiao Tong University, Shanghai 200240

Received:2021-02-19 Revised:2021-08-18 Online:2022-02-05 Published:2022-03-19

摘要/Abstract

摘要： Maxwell电磁力驱动避免了压电驱动器行程小和音圈电动机驱动力不足的固有缺点，在快速刀具伺服（fast tool servo，FTS）系统中极具应用前景。针对Maxwell电磁力驱动FTS系统的高性能轨迹跟踪问题，提出以阻尼控制改善被控对象基本动力学特性，再基于频域整形方法优化设计高增益PID控制器，实现FTS的高带宽控制。为降低阻尼控制系统名义模型阶次，提出以比例增益近似替代阻尼控制系统传递模型，并结合扰动观测器对前馈增益未建模部分进行估计与主动补偿。以所设计的一种Maxwell电磁力驱动FTS为对象，借助扫频激励辨识了系统名义模型，并据此设计了各控制器参数。试验测试结果表明：所设计的阻尼控制器可以有效抑制系统谐振并提高PID控制系统带宽，基于扰动观测的前馈补偿器的引入可大幅降低轨迹跟踪误差。最终对25 μm幅值、25 Hz频率的谐波轨迹跟踪获得了±0.16 μm的误差。

关键词: 快速刀具伺服, Maxwell电磁力, 阻尼控制, PID控制, 扰动观测器

Abstract: Maxwell electromagnetic actuator can overcome the inherent small stroke limitation of piezoelectric actuators as well as the insufficient driving force of voice coil actuators, and tends to be very promising for applying in fast tool servo (FTS). To achieve a high-performance trajectory tracking, a damping controller is designed for the FTS to modify its basic dynamics, and a high-gain PID controller is accordingly developed through the loop-shaping method to gain a wide bandwidth. To decrease the model order of the damped control system, a static gain is adopted as the feedforward compensator where the unmodeled part is estimated and compensated by a disturbance observer. By conducting sweep excitation of a designed FTS actuated by the Maxwell electromagnetic force, the nominal transfer function is identified, and the controller parameters are accordingly determined. Experiment result demonstrates that the designed damping controller can effectively suppress the resonance and improve the closed-loop bandwidth of the FTS, and the disturbance observation-based feedforward compensation can significantly reduce the trajectory tracking error. Finally, the obtained motion error is about ±0.16 μm for tracking a harmonic trajectory with 25 μm amplitude and 25 Hz frequency.

Key words: fast tool servo, maxwell electromagnetic force, damping control, PID control, disturbance observer

中图分类号:

TH13

夏薇, 朱紫辉, 陈栎, 朱利民, 朱志伟. Maxwell电磁力驱动快速刀具伺服系统轨迹跟踪控制[J]. 机械工程学报, 2022, 58(3): 259-265.

XIA Wei, ZHU Zihui, CHEN Li, ZHU Limin, ZHU Zhiwei. Trajectory Tracking Control of a Fast Tool Servo System Driven by Maxwell Electromagnetic Force[J]. Journal of Mechanical Engineering, 2022, 58(3): 259-265.

参考文献

[1] Fang F Z,Zhang X D,Weckenmann A,et al. Manufacturing and measurement of freeform optics[J]. CIRP Annals,2013,62(2):823-846.
[2] 闫鹏,李金银. 压电陶瓷驱动的长行程快刀伺服机构设计[J]. 光学精密工程,2020,28(2):390-397. Yan Peng,Li Jinyin. Design of the piezo-actuated long-stroke fast tool servo mechanism[J]. Optics and Precision Engineering,2020,28(2):390-397.
[3] Rakuff S,Cuttino J F. Design and testing of a long-range,precision fast tool servo system for diamond turning[J]. Precision Engineering,2009,33(1):18-25.
[4] 周荣晶,李云峰,纪宇阳,等. 基于混合驱动的大行程快速刀具伺服设计与控制[J]. 机械工程学报,2019,55(21):199-207. Zhou Rongjing,Li Yunfeng,Ji Yuyang,et al. Design and control of a hybrid actuation based long range fast tool servo[J]. Journal of Mechanical Engineering,2019,55(21):199-207.
[5] Trumper D L,Lu X. Fast tool servos:advances in precision,acceleration,and bandwidth[M]. London:Springer,2007.
[6] 吴丹,谢晓丹,王先逵. 快速刀具伺服机构研究进展[J]. 中国机械工程,2008(11):1379-1385. Wu Dan,Xie Xiaodan,Wang Xiankui. Research review on fast tool servo[J]. China Mechanical Engineering,2008(11):1379-1385.
[7] Montesanti R C,Trumper D L. High bandwidth short stroke rotary fast tool servo[C]//Proc. of ASPE. 2003,30:115-118.
[8] Lu X D,Trumper D L. Ultrafast tool servos for diamond turning[J]. CIRP Annals,2005,54(1):383-388.
[9] Wu D,Xie X,Zhou S. Design of a normal stress electromagnetic fast linear actuator[J]. IEEE Transactions on Magnetics,2009,46(4):1007-1014.
[10] 房丰洲,陈晓菲,张效栋,等. 基于自抗扰控制算法的麦克斯韦快刀伺服控制系统[J]. 纳米技术与精密工程,2017,15(5):335-341. Fang Fengzhou,Chen Xiaofei,Zhang Xiaodong,et al. Development of fast tool servo control system based on Maxwell normal force using ADRC alogrithm[J]. Nanotechnology and Precision Engineering,2017,15(5):335-341.
[11] Wu D,Chen K. Frequency-domain analysis of nonlinear active disturbance rejection control via the describing function method[J]. IEEE Transactions on Industrial Electronics,2012,60(9):3906-3914.
[12] Zhu W L,Yang X,Duan F,et al. Design and adaptive terminal sliding mode control of a fast tool servo system for diamond machining of freeform surfaces[J]. IEEE Transactions on Industrial Electronics,2018,66(6):4912-4922.
[13] Li L,Li C X,Gu G,et al. Positive acceleration,velocity and position feedback based damping control approach for piezo-actuated nano-positioning stages[J]. Mechatronics,2017,47:97-104.
[14] Sadeghpour M,De Oliveira V,Karimi A. A toolbox for robust PID controller tuning using convex optimization[J]. IFAC Proceedings Volumes,2012,45(3):158-163.
[15] Zhu Z,Chen L,Huang P,et al. Design and control of a piezoelectrically actuated fast tool servo for diamond turning of micro-structured surfaces[J]. IEEE Transactions on Industrial Electronics,2020,67(8):6688-97.
[16] Yi J,Chang S,Shen Y. Disturbance-observer-based hysteresis compensation for piezoelectric actuators[J]. IEEE/ASME Transactions on Mechatronics,2009,14(4):456-464.

Maxwell电磁力驱动快速刀具伺服系统轨迹跟踪控制

Trajectory Tracking Control of a Fast Tool Servo System Driven by Maxwell Electromagnetic Force

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	郭欣茹, 杨云帆, 凌亮, 陈哲, 王开云, 翟婉明. 防滑控制策略对机车车轮的损伤影响研究[J]. 机械工程学报, 2023, 59(22): 369-379.
[2]	黄维维, 张鑫泉, 朱利民. 基于重复控制的快速刀具伺服系统前馈补偿方法[J]. 机械工程学报, 2023, 59(21): 43-51.
[3]	张泽坤, 国凯, 孙杰. 基于扰动观测器的工业机器人高精度闭环鲁棒控制[J]. 机械工程学报, 2022, 58(14): 62-70.
[4]	胡燃, 萧定辉, 卞佳音, 何泽斌, 陈建强, 林新生, 彭红刚. 基于模糊PID的液压杆塔调平控制方法研究^*[J]. 电气工程学报, 2021, 16(4): 166-173.
[5]	金石, 宋顺千, 金无痕, 姜旺. 新型复合转子双定子同步电机的复合滑模控制^*[J]. 电气工程学报, 2021, 16(2): 93-99.
[6]	周荣晶, 李云峰, 纪宇阳, 陈栎, 孔令豹, 朱志伟. 基于混合驱动的大行程快速刀具伺服设计与控制[J]. 机械工程学报, 2019, 55(21): 199-207.
[7]	朱贝贝, 熊俊. 交叉件GTA填丝增材制造弧压检测与成形控制[J]. 机械工程学报, 2019, 55(15): 17-23.
[8]	孙海宁, 唐晓强, 王晓宇, 崔志伟, 侯森浩. 基于索驱动的大型柔性结构振动抑制策略研究[J]. 机械工程学报, 2019, 55(11): 53-60.
[9]	蒋正荣,黎佳慧,张智瑜. 高压除尘电源中的移相控制技术[J]. 电气工程学报, 2019, 14(1): 61-65.
[10]	鲁军,霍金彪. 基于RBF神经网络的电弧炉电极调节系统PID参数整定[J]. 电气工程学报, 2017, 12(4): 18-21.
[11]	刁兆江,厉虹,李金. 3D刚体摆位置伺服系统PID控制研究[J]. 电气工程学报, 2016, 11(10): 37-43.
[12]	胡松涛,李旺. 弹载捷联式高精度稳定平台设计与研究[J]. 电气工程学报, 2015, 10(7): 78-81.
[13]	吴伟,张康康. 基于智能算法的轮式移动机器人控制系统优化设计[J]. 电气工程学报, 2015, 10(12): 21-26.
[14]	江思敏;王先逵. 基于扰动观测的非圆零件CNC加工的迭代学习复合PID控制[J]. , 2014, 50(17): 179-185.
[15]	郭语;孙志峻. 基于扰动观测器的时延双边遥操作系统鲁棒阻抗控制[J]. , 2012, 48(21): 15-21.