• CN:11-2187/TH
  • ISSN:0577-6686

›› 2002, Vol. 38 ›› Issue (12): 39-43.

• 论文 • 上一篇    下一篇

基于加速度补偿的龙门移动式镗铣床双直线电动机滑模解耦同步控制研究

孙宜标;郭庆鼎   

  1. 沈阳工业大学电气工程学院
  • 发布日期:2002-12-15

RSEARCH ON SLIDING MODE DECOUPLING CONTROL OF DOUBLE LINEAR MOTOR IN GANTRY-MOVING MILLING MACHINE BASED ON ACCELERATION COMPENSATORY

Sun Yibiao;Guo Qingding   

  1. Shenyang University of Technology
  • Published:2002-12-15

摘要: 针对龙门移动式镗铣床同步伺服问题进行了研究,并用两台直线电动机作为龙门柱纵向进给的传动机构。为了实现速度同步,采用滑模控制策略对双电动机同步伺服系统进行鲁棒解耦控制。并通过检测龙门框架不平行时所产生的应力变化来实现加速度动态补偿,以消除滑模控制的抖振现象,进一步提高同步精度。仿真结果表明该控制方案具有很强的鲁棒性,在不对称负载的条件下能实现动态同步。

关键词: 滑模控制, 加速度补偿, 解耦, 龙门移动式镗铣床, 同步伺服, 直线电动机, 并联机构, 工作空间, 螺旋理论, 奇异性, 自由度

Abstract: The problem of synchrodrive for gantry-moving milling machines is researched, and two linear motors as traversing drive mechanism of gantries are applied. In order to realize speed synchronization, A robust decoupling control based on sliding mode control strategy is applied to double motors synchrodrive system. And an acceleration dynamic compensation is designed using the tension when gantries are not aligned to eliminate the chattering caused by the sliding mode control and to improve the synchronization precision more. Simulation results verify that the proposed control strategy has strong robustness and can realize dynamic synchronization, even under the condition of asymmetrical load.

Key words: Acceleration compensation, Gantry-moving milling machine, Linear motor Synchro-servo, Sliding mode control Decoupling, Degree of Freedom, Parallel Manipulator, Screw Theory, Singularity, Workspace

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