• CN:11-2187/TH
  • ISSN:0577-6686

›› 2014, Vol. 50 ›› Issue (17): 179-185.

• 论文 • 上一篇    下一篇

基于扰动观测的非圆零件CNC加工的迭代学习复合PID控制

江思敏;王先逵   

  1. 娃哈哈集团研究院机电研究所;清华大学精密仪器系
  • 发布日期:2014-09-05

Hybrid PID Control with Iterative Learning Based on Disturbance Observer for Non-circular Part CNC Machining

JIANG Simin;WANG Xiankui   

  1. The Institute of Mechanical and Electrical Engineering, Wahaha Group; Department of Precision Instruments and Mechanology, Tsinghua University
  • Published:2014-09-05

摘要: 在加工高精度非圆零件时,通常先产生非圆零件的轮廓生成直线伺服器的运动轨迹,然后高响应直线伺服器按照生成的运动轨迹进行往复运动,并和驱动非圆零件的主轴同步控制。非圆零件加工轨迹的控制精度是影响零件数控加工的重要因素。提出一种基于扰动观测的数字PID和迭代学习复合控制算法,根据非圆轮廓轨迹表现的周期性特征,使用数字PID和迭代学习控制的方法,可以有效达到非圆零件加工的控制精度,加工过程中的扰动同样影响零件的加工精度,通过扰动观测器来实现对扰动的有效反馈补偿控制,提高系统的控制精度,从而使非圆截面的切削控制精度得到提高,非圆零件的加工精度也可以得到显著提高。

关键词: 迭代学习;数字PID控制;扰动观测器;非圆切削;高速响应直线伺服器

Abstract: During machining the high accuracy non-circular part, normally the trajectory of non-circular part profile is generated, and then the fast response linear servo motor drive the cutting tool to do reciprocating moving, and control the cutting tool synchronously with the spindle. The control accuracy of the non-circular part trajectory is critical to affect the non-circular part CNC machining. Based on the periodic features of non-circular profile trajectory, the control algorithm which is hybrid control of PID and iterative learning control has been effectively developed for non-circular profile generation. Because the load disturbance can negatively affect the control accuracy, so the disturbance observer is integrated to the control algorithm. The final motion accuracy of linear actuator has been improved, and the machining accuracy of the non-circular turning is improved.

Key words: iterative learning control;digital pid control;disturbance observer;non-circular machining;high speed response linear servo motor

中图分类号: